Apparatus and method of monitoring product placement within a shopping facility

ABSTRACT

Methods and apparatuses are provided for use in monitoring product placement within a shopping facility. Some embodiments provide an apparatus configured to determine product placement conditions within a shopping facility, comprising: a transceiver configured to wirelessly receive communications; a product monitoring control circuit coupled with the transceiver; a memory coupled with the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to: obtain a composite three-dimensional (3D) scan mapping corresponding to at least a select area of the shopping facility and based on a series of 3D scan data; evaluate the 3D scan mapping to identify multiple product depth distances; and identify, from the evaluation of the 3D scan mapping, when one or more of the multiple product depth distances is greater than a predefined depth distance threshold from the reference offset distance of the product support structure.

RELATED APPLICATION

This application is a Continuation Application of U.S. application Ser.No. 16/269,262, filed Feb. 6, 2019, which is incorporated herein byreference in its entirety, which is a Continuation Application of U.S.application Ser. No. 15/061,265, filed Mar. 4, 2016, which isincorporated herein by reference in its entirety, and which claims thebenefit of each of the following U.S. Provisional applications, each ofwhich is incorporated herein by reference in its entirety: U.S.Provisional Application No. 62/129,726, filed Mar. 6, 2015; U.S.Provisional Application No. 62/129,727, filed Mar. 6, 2015; U.S.Provisional Application No. 62/138,877, filed Mar. 26, 2015; U.S.Provisional Application No. 62/138,885, filed Mar. 26, 2015; U.S.Provisional Application No. 62/152,421, filed Apr. 24, 2015; U.S.Provisional Application No. 62/152,465, filed Apr. 24, 2015; U.S.Provisional Application No. 62/152,440, filed Apr. 24, 2015; U.S.Provisional Application No. 62/152,630, filed Apr. 24, 2015; U.S.Provisional Application No. 62/152,711, filed Apr. 24, 2015; U.S.Provisional Application No. 62/152,610, filed Apr. 24, 2015; U.S.Provisional Application No. 62/152,667, filed Apr. 24, 2015; U.S.Provisional Application No. 62/157,388, filed May 5, 2015; U.S.Provisional Application No. 62/165,579, filed May 22, 2015; U.S.Provisional Application No. 62/165,416, filed May 22, 2015; U.S.Provisional Application No. 62/165,586, filed May 22, 2015; U.S.Provisional Application No. 62/171,822, filed Jun. 5, 2015; U.S.Provisional Application No. 62/175,182, filed Jun. 12, 2015; U.S.Provisional Application No. 62/182,339, filed Jun. 19, 2015; U.S.Provisional Application No. 62/185,478, filed Jun. 26, 2015; U.S.Provisional Application No. 62/194,131, filed Jul. 17, 2015; U.S.Provisional Application No. 62/194,119, filed Jul. 17, 2015; U.S.Provisional Application No. 62/194,121, filed Jul. 17, 2015; U.S.Provisional Application No. 62/194,127, filed Jul. 17, 2015; U.S.Provisional Application No. 62/202,744, filed Aug. 7, 2015; U.S.Provisional Application No. 62/202,747, filed Aug. 7, 2015; U.S.Provisional Application No. 62/205,548, filed Aug. 14, 2015; U.S.Provisional Application No. 62/205,569, filed Aug. 14, 2015; U.S.Provisional Application No. 62/205,555, filed Aug. 14, 2015; U.S.Provisional Application No. 62/205,539, filed Aug. 14, 2015; U.S.Provisional Application No. 62/207,858, filed Aug. 20, 2015; U.S.Provisional Application No. 62/214,826, filed Sep. 4, 2015; U.S.Provisional Application No. 62/214,824, filed Sep. 4, 2015; U.S.Provisional Application No. 62/292,084, filed Feb. 5, 2016; U.S.Provisional Application No. 62/302,547, filed Mar. 2, 2016; U.S.Provisional Application No. 62/302,567, filed Mar. 2, 2016; U.S.Provisional Application No. 62/302,713, filed Mar. 2, 2016; and U.S.Provisional Application No. 62/303,021, filed Mar. 3, 2016.

TECHNICAL FIELD

These teachings relate generally to shopping environments and moreparticularly to devices, systems and methods for assisting customersand/or workers in those shopping environments.

BACKGROUND

In a modern retail store environment, there is a need to improve thecustomer experience and/or convenience for the customer. Whethershopping in a large format (big box) store or smaller format(neighborhood) store, customers often require assistance that employeesof the store are not always able to provide. For example, particularlyduring peak hours, there may not be enough employees available to assistcustomers such that customer questions go unanswered. Additionally, dueto high employee turnover rates, available employees may not be fullytrained or have access to information to adequately support customers.Other routine tasks also are difficult to keep up with, particularlyduring peak hours. For example, shopping carts are left abandoned,aisles become messy, inventory is not displayed in the proper locationsor is not even placed on the sales floor, shelf prices may not beproperly set, and theft is hard to discourage. All of these issues canresult in low customer satisfaction or reduced convenience to thecustomer. With increasing competition from non-traditional shoppingmechanisms, such as online shopping provided by e-commerce merchants andalternative store formats, it can be important for “brick and mortar”retailers to focus on improving the overall customer experience and/orconvenience.

BRIEF DESCRIPTION OF THE DRAWINGS

The above needs are at least partially met through provision ofembodiments of systems, devices, and methods designed to provideassistance to customers and/or workers in a shopping facility, such asdescribed in the following detailed description, particularly whenstudied in conjunction with the drawings, wherein:

FIG. 1 comprises a block diagram of a shopping assistance system asconfigured in accordance with various embodiments of these teachings;

FIGS. 2A and 2B are illustrations of a motorized transport unit of thesystem of FIG. 1 in a retracted orientation and an extended orientationin accordance with some embodiments;

FIGS. 3A and 3B are illustrations of the motorized transport unit ofFIGS. 2A and 2B detachably coupling to a movable item container, such asa shopping cart, in accordance with some embodiments;

FIG. 4 comprises a block diagram of a motorized transport unit asconfigured in accordance with various embodiments of these teachings;

FIG. 5 comprises a block diagram of a computer device as configured inaccordance with various embodiments of these teachings;

FIG. 6 comprises a block diagram of a shopping assistance system asconfigured in accordance with various embodiments of these teachings;

FIG. 7 shows a simplified block diagram of an exemplary motorizedtransport unit, in accordance with some embodiments;

FIG. 8A illustrates a simplified block diagram of an exemplarythree-dimensional (3D) scanner, in accordance with some embodiments;

FIG. 8B shows a simplified plane view of a plurality of exemplary 3Dscanners cooperated with a motorized transport unit, in accordance withsome embodiments;

FIG. 9 shows simplified block diagram of a motorized transport unitsupporting and moving multiple 3D scanners along a modular havingmultiple shelves that supports multiple different products, inaccordance with some embodiments;

FIG. 10 shows a simplified overhead view of at least a portion of ashopping facility with an exemplary defined scan route, in accordancewith some embodiments;

FIG. 11 shows a simplified perspective view of an exemplary baseline 3Dscan mapping of at least a portion of a shelf or support structure witha desired or ideal quantity of items of a product being placed on theshelf, in accordance with some embodiments;

FIG. 12 shows a simplified perspective view of an exemplary subsequent3D scan mapping of at least the portion of the shelf of FIG. 11, withmany of the items of the product having been removed, in accordance withsome embodiments;

FIG. 13 shows a simplified perspective view of an exemplary 3D scanmapping of at least the portion of the shelf of FIG. 11, with items ofthe product having been removed by customers, in accordance with someembodiments;

FIG. 14 shows a simplified perspective view of an exemplary 3D scanmapping of at least the portion of a shelf with items substantiallyfaced at the reference offset with an empty area behind a plurality ofitems of the product, in accordance with some embodiments; and

FIG. 15 depicts a simplified flow diagram of an exemplary process ofobtaining one or more 3D scans and/or evaluating composite 3D scanmappings, in accordance with some embodiments.

Elements in the figures are illustrated for simplicity and clarity andhave not necessarily been drawn to scale. For example, the dimensionsand/or relative positioning of some of the elements in the figures maybe exaggerated relative to other elements to help to improveunderstanding of various embodiments of the present teachings. Also,common but well-understood elements that are useful or necessary in acommercially feasible embodiment are often not depicted in order tofacilitate a less obstructed view of these various embodiments of thepresent teachings. Certain actions and/or steps may be described ordepicted in a particular order of occurrence while those skilled in theart will understand that such specificity with respect to sequence isnot actually required. The terms and expressions used herein have theordinary technical meaning as is accorded to such terms and expressionsby persons skilled in the technical field as set forth above exceptwhere different specific meanings have otherwise been set forth herein.

DETAILED DESCRIPTION

The following description is not to be taken in a limiting sense, but ismade merely for the purpose of describing the general principles ofexemplary embodiments. Reference throughout this specification to “oneembodiment,” “an embodiment,” or similar language means that aparticular feature, structure, or characteristic described in connectionwith the embodiment is included in at least one embodiment of thepresent invention. Thus, appearances of the phrases “in one embodiment,”“in an embodiment,” and similar language throughout this specificationmay, but do not necessarily, all refer to the same embodiment.

Generally speaking, pursuant to various embodiments, systems, devicesand methods are provided for assistance of persons at a shoppingfacility. Generally, assistance may be provided to customers or shoppersat the facility and/or to workers at the facility. The facility may beany type of shopping facility at a location in which products fordisplay and/or for sale are variously distributed throughout theshopping facility space. The shopping facility may be a retail salesfacility, or any other type of facility in which products are displayedand/or sold. The shopping facility may include one or more of salesfloor areas, checkout locations, parking locations, entrance and exitareas, stock room areas, stock receiving areas, hallway areas, commonareas shared by merchants, and so on. Generally, a shopping facilityincludes areas that may be dynamic in terms of the physical structuresoccupying the space or area and objects, items, machinery and/or personsmoving in the area. For example, the shopping area may include productstorage units, shelves, racks, modules, bins, etc., and other walls,dividers, partitions, etc. that may be configured in different layoutsor physical arrangements. In other example, persons or other movableobjects may be freely and independently traveling through the shoppingfacility space. And in other example, the persons or movable objectsmove according to known travel patterns and timing. The facility may beany size of format facility, and may include products from one or moremerchants. For example, a facility may be a single store operated by onemerchant or may be a collection of stores covering multiple merchantssuch as a mall. Generally, the system makes use of automated, roboticmobile devices, e.g., motorized transport units, that are capable ofself-powered movement through a space of the shopping facility andproviding any number of functions. Movement and operation of suchdevices may be controlled by a central computer system or may beautonomously controlled by the motorized transport units themselves.Various embodiments provide one or more user interfaces to allow varioususers to interact with the system including the automated mobile devicesand/or to directly interact with the automated mobile devices. In someembodiments, the automated mobile devices and the corresponding systemserve to enhance a customer shopping experience in the shoppingfacility, e.g., by assisting shoppers and/or workers at the facility.

In some embodiments, a shopping facility personal assistance systemcomprises: a plurality of motorized transport units located in andconfigured to move through a shopping facility space; a plurality ofuser interface units, each corresponding to a respective motorizedtransport unit during use of the respective motorized transport unit;and a central computer system having a network interface such that thecentral computer system wirelessly communicates with one or both of theplurality of motorized transport units and the plurality of userinterface units, wherein the central computer system is configured tocontrol movement of the plurality of motorized transport units throughthe shopping facility space based at least on inputs from the pluralityof user interface units.

System Overview

Referring now to the drawings, FIG. 1 illustrates embodiments of ashopping facility assistance system 100 that can serve to carry out atleast some of the teachings set forth herein. It will be understood thatthe details of this example are intended to serve in an illustrativecapacity and are not necessarily intended to suggest any limitations asregards the present teachings. It is noted that generally, FIGS. 1-5describe the general functionality of several embodiments of a system,and FIGS. 6-15 expand on some functionalities of some embodiments of thesystem and/or embodiments independent of such systems.

In the example of FIG. 1, a shopping assistance system 100 isimplemented in whole or in part at a shopping facility 101. Generally,the system 100 includes one or more motorized transport units (MTUs)102; one or more item containers 104; a central computer system 106having at least one control circuit 108, at least one memory 110 and atleast one network interface 112; at least one user interface unit 114; alocation determination system 116; at least one video camera 118; atleast one motorized transport unit (MTU) dispenser 120; at least onemotorized transport unit (MTU) docking station 122; at least onewireless network 124; at least one database 126; at least one userinterface computer device 128; an item display module 130; and a lockeror an item storage unit 132. It is understood that more or fewer of suchcomponents may be included in different embodiments of the system 100.

These motorized transport units 102 are located in the shopping facility101 and are configured to move throughout the shopping facility space.Further details regarding such motorized transport units 102 appearfurther below. Generally speaking, these motorized transport units 102are configured to either comprise, or to selectively couple to, acorresponding movable item container 104. A simple example of an itemcontainer 104 would be a shopping cart as one typically finds at manyretail facilities, or a rocket cart, a flatbed cart or any other mobilebasket or platform that may be used to gather items for potentialpurchase.

In some embodiments, these motorized transport units 102 wirelesslycommunicate with, and are wholly or largely controlled by, the centralcomputer system 106. In particular, in some embodiments, the centralcomputer system 106 is configured to control movement of the motorizedtransport units 102 through the shopping facility space based on avariety of inputs. For example, the central computer system 106communicates with each motorized transport unit 102 via the wirelessnetwork 124 which may be one or more wireless networks of one or morewireless network types (such as, a wireless local area network, awireless personal area network, a wireless mesh network, a wireless starnetwork, a wireless wide area network, a cellular network, and so on),capable of providing wireless coverage of the desired range of themotorized transport units 102 according to any known wireless protocols,including but not limited to a cellular, Wi-Fi, Zigbee, or Bluetoothnetwork.

By one approach the central computer system 106 is a computer baseddevice and includes at least one control circuit 108, at least onememory 110 and at least one wired and/or wireless network interface 112.Such a control circuit 108 can comprise a fixed-purpose hard-wiredplatform or can comprise a partially or wholly programmable platform,such as a microcontroller, an application specification integratedcircuit, a field programmable gate array, and so on. These architecturaloptions are well known and understood in the art and require no furtherdescription here. This control circuit 108 is configured (for example,by using corresponding programming stored in the memory 110 as will bewell understood by those skilled in the art) to carry out one or more ofthe steps, actions, and/or functions described herein.

In this illustrative example the control circuit 108 operably couples toone or more memories 110. The memory 110 may be integral to the controlcircuit 108 or can be physically discrete (in whole or in part) from thecontrol circuit 108 as desired. This memory 110 can also be local withrespect to the control circuit 108 (where, for example, both share acommon circuit board, chassis, power supply, and/or housing) or can bepartially or wholly remote with respect to the control circuit 108(where, for example, the memory 110 is physically located in anotherfacility, metropolitan area, or even country as compared to the controlcircuit 108).

This memory 110 can serve, for example, to non-transitorily store thecomputer instructions that, when executed by the control circuit 108,cause the control circuit 108 to behave as described herein. (As usedherein, this reference to “non-transitorily” will be understood to referto a non-ephemeral state for the stored contents (and hence excludeswhen the stored contents merely constitute signals or waves) rather thanvolatility of the storage media itself and hence includes bothnon-volatile memory (such as read-only memory (ROM) as well as volatilememory (such as an erasable programmable read-only memory (EPROM).)

Additionally, at least one database 126 may be accessible by the centralcomputer system 106. Such databases may be integrated into the centralcomputer system 106 or separate from it. Such databases may be at thelocation of the shopping facility 101 or remote from the shoppingfacility 101. Regardless of location, the databases comprise memory tostore and organize certain data for use by the central control system106. In some embodiments, the at least one database 126 may store datapertaining to one or more of: shopping facility mapping data, customerdata, customer shopping data and patterns, inventory data, productpricing data, and so on.

In this illustrative example, the central computer system 106 alsowirelessly communicates with a plurality of user interface units 114.These teachings will accommodate a variety of user interface unitsincluding, but not limited to, mobile and/or handheld electronic devicessuch as so-called smart phones and portable computers such astablet/pad-styled computers. Generally speaking, these user interfaceunits 114 should be able to wirelessly communicate with the centralcomputer system 106 via a wireless network, such as the wireless network124 of the shopping facility 101 (such as a Wi-Fi wireless network).These user interface units 114 generally provide a user interface forinteraction with the system. In some embodiments, a given motorizedtransport unit 102 is paired with, associated with, assigned to orotherwise made to correspond with a given user interface unit 114. Insome embodiments, these user interface units 114 should also be able toreceive verbally-expressed input from a user and forward that content tothe central computer system 106 or a motorized transport unit 102 and/orconvert that verbally-expressed input into a form useful to the centralcomputer system 106 or a motorized transport unit 102.

By one approach at least some of the user interface units 114 belong tocorresponding customers who have come to the shopping facility 101 toshop. By another approach, in lieu of the foregoing or in combinationtherewith, at least some of the user interface units 114 belong to theshopping facility 101 and are loaned to individual customers to employas described herein. In some embodiments, one or more user interfaceunits 114 are attachable to a given movable item container 104 or areintegrated with the movable item container 104. Similarly, in someembodiments, one or more user interface units 114 may be those ofshopping facility workers, belong to the shopping facility 101 and areloaned to the workers, or a combination thereof.

In some embodiments, the user interface units 114 may be general purposecomputer devices that include computer programming code to allow it tointeract with the system 106. For example, such programming may be inthe form of an application installed on the user interface unit 114 orin the form of a browser that displays a user interface provided by thecentral computer system 106 or other remote computer or server (such asa web server). In some embodiments, one or more user interface units 114may be special purpose devices that are programmed to primarily functionas a user interface for the system 100. Depending on the functionalityand use case, user interface units 114 may be operated by customers ofthe shopping facility or may be operated by workers at the shoppingfacility, such as facility employees (associates or colleagues),vendors, suppliers, contractors, etc.

By one approach, the system 100 optionally includes one or more videocameras 118. Captured video imagery from such a video camera 118 can beprovided to the central computer system 106. That information can thenserve, for example, to help the central computer system 106 determine apresent location of one or more of the motorized transport units 102and/or determine issues or concerns regarding automated movement ofthose motorized transport units 102 in the shopping facility space. Asone simple example in these regards, such video information can permitthe central computer system 106, at least in part, to detect an objectin a path of movement of a particular one of the motorized transportunits 102.

By one approach these video cameras 118 comprise existing surveillanceequipment employed at the shopping facility 101 to serve, for example,various security purposes. By another approach these video cameras 118are dedicated to providing video content to the central computer system106 to facilitate the latter's control of the motorized transport units102. If desired, the video cameras 118 can have a selectively movablefield of view and/or zoom capability that the central computer system106 controls as appropriate to help ensure receipt of useful informationat any given moment.

In some embodiments, a location detection system 116 is provided at theshopping facility 101. The location detection system 116 provides inputto the central computer system 106 useful to help determine the locationof one or more of the motorized transport units 102. In someembodiments, the location detection system 116 includes a series oflight sources (e.g., LEDs (light-emitting diodes)) that are mounted inthe ceiling at known positions throughout the space and that each encodedata in the emitted light that identifies the source of the light (andthus, the location of the light). As a given motorized transport unit102 moves through the space, light sensors (or light receivers) at themotorized transport unit 102, on the movable item container 104 and/orat the user interface unit 114 receive the light and can decode thedata. This data is sent back to the central computer system 106 whichcan determine the position of the motorized transport unit 102 by thedata of the light it receives, since it can relate the light data to amapping of the light sources to locations at the facility 101.Generally, such lighting systems are known and commercially available,e.g., the ByteLight system from ByteLight of Boston, Mass. Inembodiments using a ByteLight system, a typical display screen of thetypical smart phone device can be used as a light sensor or lightreceiver to receive and process data encoded into the light from theByteLight light sources.

In other embodiments, the location detection system 116 includes aseries of low energy radio beacons (e.g., Bluetooth low energy beacons)at known positions throughout the space and that each encode data in theemitted radio signal that identifies the beacon (and thus, the locationof the beacon). As a given motorized transport unit 102 moves throughthe space, low energy receivers at the motorized transport unit 102, onthe movable item container 104 and/or at the user interface unit 114receive the radio signal and can decode the data. This data is sent backto the central computer system 106 which can determine the position ofthe motorized transport unit 102 by the location encoded in the radiosignal it receives, since it can relate the location data to a mappingof the low energy radio beacons to locations at the facility 101.Generally, such low energy radio systems are known and commerciallyavailable. In embodiments using a Bluetooth low energy radio system, atypical Bluetooth radio of a typical smart phone device can be used as areceiver to receive and process data encoded into the Bluetooth lowenergy radio signals from the Bluetooth low energy beacons.

In still other embodiments, the location detection system 116 includes aseries of audio beacons at known positions throughout the space and thateach encode data in the emitted audio signal that identifies the beacon(and thus, the location of the beacon). As a given motorized transportunit 102 moves through the space, microphones at the motorized transportunit 102, on the movable item container 104 and/or at the user interfaceunit 114 receive the audio signal and can decode the data. This data issent back to the central computer system 106 which can determine theposition of the motorized transport unit 102 by the location encoded inthe audio signal it receives, since it can relate the location data to amapping of the audio beacons to locations at the facility 101.Generally, such audio beacon systems are known and commerciallyavailable. In embodiments using an audio beacon system, a typicalmicrophone of a typical smart phone device can be used as a receiver toreceive and process data encoded into the audio signals from the audiobeacon.

Also optionally, the central computer system 106 can operably couple toone or more user interface computers 128 (comprising, for example, adisplay and a user input interface such as a keyboard, touch screen,and/or cursor-movement device). Such a user interface computer 128 canpermit, for example, a worker (e.g., an associate, analyst, etc.) at theretail or shopping facility 101 to monitor the operations of the centralcomputer system 106 and/or to attend to any of a variety ofadministrative, configuration or evaluation tasks as may correspond tothe programming and operation of the central computer system 106. Suchuser interface computers 128 may be at or remote from the location ofthe facility 101 and may access one or more the databases 126.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) storage unit or dispenser 120 at various locationsin the shopping facility 101. The dispenser 120 provides for storage ofmotorized transport units 102 that are ready to be assigned to customersand/or workers. In some embodiments, the dispenser 120 takes the form ofa cylinder within which motorized transports units 102 are stacked andreleased through the bottom of the dispenser 120. Further details ofsuch embodiments are provided further below. In some embodiments, thedispenser 120 may be fixed in location or may be mobile and capable oftransporting itself to a given location or utilizing a motorizedtransport unit 102 to transport the dispenser 120, then dispense one ormore motorized transport units 102.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) docking station 122. These docking stations 122provide locations where motorized transport units 102 can travel andconnect to. For example, the motorized transport units 102 may be storedand charged at the docking station 122 for later use, and/or may beserviced at the docking station 122.

In accordance with some embodiments, a given motorized transport unit102 detachably connects to a movable item container 104 and isconfigured to move the movable item container 104 through the shoppingfacility space under control of the central computer system 106 and/orthe user interface unit 114. For example, a motorized transport unit 102can move to a position underneath a movable item container 104 (such asa shopping cart, a rocket cart, a flatbed cart, or any other mobilebasket or platform), align itself with the movable item container 104(e.g., using sensors) and then raise itself to engage an undersurface ofthe movable item container 104 and lift a portion of the movable itemcontainer 104. Once the motorized transport unit is cooperating with themovable item container 104 (e.g., lifting a portion of the movable itemcontainer), the motorized transport unit 102 can continue to movethroughout the facility space 101 taking the movable item container 104with it. In some examples, the motorized transport unit 102 takes theform of the motorized transport unit 202 of FIGS. 2A-3B as it engagesand detachably connects to a given movable item container 104. It isunderstood that in other embodiments, the motorized transport unit 102may not lift a portion of the movable item container 104, but that itremovably latches to, connects to or otherwise attaches to a portion ofthe movable item container 104 such that the movable item container 104can be moved by the motorized transport unit 102. For example, themotorized transport unit 102 can connect to a given movable itemcontainer using a hook, a mating connector, a magnet, and so on.

In addition to detachably coupling to movable item containers 104 (suchas shopping carts), in some embodiments, motorized transport units 102can move to and engage or connect to an item display module 130 and/oran item storage unit or locker 132. For example, an item display module130 may take the form of a mobile display rack or shelving unitconfigured to house and display certain items for sale. It may bedesired to position the display module 130 at various locations withinthe shopping facility 101 at various times. Thus, one or more motorizedtransport units 102 may move (as controlled by the central computersystem 106) underneath the item display module 130, extend upward tolift the module 130 and then move it to the desired location. A storagelocker 132 may be a storage device where items for purchase arecollected and placed therein for a customer and/or worker to laterretrieve. In some embodiments, one or more motorized transport units 102may be used to move the storage locker to a desired location in theshopping facility 101. Similar to how a motorized transport unit engagesa movable item container 104 or item display module 130, one or moremotorized transport units 102 may move (as controlled by the centralcomputer system 106) underneath the storage locker 132, extend upward tolift the locker 132 and then move it to the desired location.

FIGS. 2A and 2B illustrate some embodiments of a motorized transportunit 202, similar to the motorized transport unit 102 shown in thesystem of FIG. 1. In this embodiment, the motorized transport unit 202takes the form of a disc-shaped robotic device having motorized wheels(not shown), a lower body portion 204 and an upper body portion 206 thatfits over at least part of the lower body portion 204. It is noted thatin other embodiments, the motorized transport unit may have other shapesand/or configurations, and is not limited to disc-shaped. For example,the motorized transport unit may be cubic, octagonal, triangular, orother shapes, and may be dependent on a movable item container withwhich the motorized transport unit is intended to cooperate. Alsoincluded are guide members 208. In FIG. 2A, the motorized transport unit202 is shown in a retracted position in which the upper body portion 206fits over the lower body portion 204 such that the motorized transportunit 202 is in its lowest profile orientation which is generally thepreferred orientation for movement when it is unattached to a movableitem container 104 for example. In FIG. 2B, the motorized transport unit202 is shown in an extended position in which the upper body portion 206is moved upward relative to the lower body portion 204 such that themotorized transport unit 202 is in its highest profile orientation formovement when it is lifting and attaching to a movable item container104 for example. The mechanism within the motorized transport unit 202is designed to provide sufficient lifting force to lift the weight ofthe upper body portion 206 and other objects to be lifted by themotorized transport unit 202, such as movable item containers 104 anditems placed within the movable item container, item display modules 130and items supported by the item display module, and storage lockers 132and items placed within the storage locker. The guide members 208 areembodied as pegs or shafts that extend horizontally from the both theupper body portion 206 and the lower body portion 204. In someembodiments, these guide members 208 assist docking the motorizedtransport unit 202 to a docking station 122 or a dispenser 120. In someembodiments, the lower body portion 204 and the upper body portion arecapable to moving independently of each other. For example, the upperbody portion 206 may be raised and/or rotated relative to the lower bodyportion 204. That is, one or both of the upper body portion 206 and thelower body portion 204 may move toward/away from the other or rotatedrelative to the other. In some embodiments, in order to raise the upperbody portion 206 relative to the lower body portion 204, the motorizedtransport unit 202 includes an internal lifting system (e.g., includingone or more electric actuators or rotary drives or motors). Numerousexamples of such motorized lifting and rotating systems are known in theart. Accordingly, further elaboration in these regards is not providedhere for the sake of brevity.

FIGS. 3A and 3B illustrate some embodiments of the motorized transportunit 202 detachably engaging a movable item container embodied as ashopping cart 302. In FIG. 3A, the motorized transport unit 202 is inthe orientation of FIG. 2A such that it is retracted and able to move inposition underneath a portion of the shopping cart 302. Once themotorized transport unit 202 is in position (e.g., using sensors), asillustrated in FIG. 3B, the motorized transport unit 202 is moved to theextended position of FIG. 2B such that the front portion 304 of theshopping cart is lifted off of the ground by the motorized transportunit 202, with the wheels 306 at the rear of the shopping cart 302remaining on the ground. In this orientation, the motorized transportunit 202 is able to move the shopping cart 302 throughout the shoppingfacility. It is noted that in these embodiments, the motorized transportunit 202 does not bear the weight of the entire cart 302 since the rearwheels 306 rest on the floor. It is understood that in some embodiments,the motorized transport unit 202 may be configured to detachably engageother types of movable item containers, such as rocket carts, flatbedcarts or other mobile baskets or platforms.

FIG. 4 presents a more detailed example of some embodiments of themotorized transport unit 102 of FIG. 1. In this example, the motorizedtransport unit 102 has a housing 402 that contains (partially or fully)or at least supports and carries a number of components. Thesecomponents include a control unit 404 comprising a control circuit 406that, like the control circuit 108 of the central computer system 106,controls the general operations of the motorized transport unit 102.Accordingly, the control unit 404 also includes a memory 408 coupled tothe control circuit 406 and that stores, for example, operatinginstructions and/or useful data.

The control circuit 406 operably couples to a motorized wheel system410. This motorized wheel system 410 functions as a locomotion system topermit the motorized transport unit 102 to move within theaforementioned retail or shopping facility 101 (thus, the motorizedwheel system 410 may more generically be referred to as a locomotionsystem). Generally speaking, this motorized wheel system 410 willinclude at least one drive wheel (i.e., a wheel that rotates (around ahorizontal axis) under power to thereby cause the motorized transportunit 102 to move through interaction with, for example, the floor of theshopping facility 101). The motorized wheel system 410 can include anynumber of rotating wheels and/or other floor-contacting mechanisms asmay be desired and/or appropriate to the application setting.

The motorized wheel system 410 also includes a steering mechanism ofchoice. One simple example in these regards comprises one or more of theaforementioned wheels that can swivel about a vertical axis to therebycause the moving motorized transport unit 102 to turn as well.

Numerous examples of motorized wheel systems are known in the art.Accordingly, further elaboration in these regards is not provided herefor the sake of brevity save to note that the aforementioned controlcircuit 406 is configured to control the various operating states of themotorized wheel system 410 to thereby control when and how the motorizedwheel system 410 operates.

In this illustrative example, the control circuit 406 also operablycouples to at least one wireless transceiver 412 that operates accordingto any known wireless protocol. This wireless transceiver 412 cancomprise, for example, a Wi-Fi-compatible and/or Bluetooth-compatibletransceiver that can communicate with the aforementioned centralcomputer system 106 via the aforementioned wireless network 124 of theshopping facility 101. So configured the control circuit 406 of themotorized transport unit 102 can provide information to the centralcomputer system 106 and can receive information and/or instructions fromthe central computer system 106. As one simple example in these regards,the control circuit 406 can receive instructions from the centralcomputer system 106 regarding movement of the motorized transport unit102.

These teachings will accommodate using any of a wide variety of wirelesstechnologies as desired and/or as may be appropriate in a givenapplication setting. These teachings will also accommodate employing twoor more different wireless transceivers 412 if desired.

The control circuit 406 also couples to one or more on-board sensors414. These teachings will accommodate a wide variety of sensortechnologies and form factors. By one approach at least one such sensor414 can comprise a light sensor or light receiver. When theaforementioned location detection system 116 comprises a plurality oflight emitters disposed at particular locations within the shoppingfacility 101, such a light sensor can provide information that thecontrol circuit 406 and/or the central computer system 106 employs todetermine a present location and/or orientation of the motorizedtransport unit 102.

As another example, such a sensor 414 can comprise a distancemeasurement unit configured to detect a distance between the motorizedtransport unit 102 and one or more objects or surfaces around themotorized transport unit 102 (such as an object that lies in a projectedpath of movement for the motorized transport unit 102 through theshopping facility 101). These teachings will accommodate any of avariety of distance measurement units including optical units andsound/ultrasound units. In one example, a sensor 414 comprises a laserdistance sensor device capable of determining a distance to objects inproximity to the sensor. In some embodiments, a sensor 414 comprises anoptical based scanning device to sense and read optical patterns inproximity to the sensor, such as bar codes variously located onstructures in the shopping facility 101. In some embodiments, a sensor414 comprises a radio frequency identification (RFID) tag reader capableof reading RFID tags in proximity to the sensor. Such sensors may beuseful to determine proximity to nearby objects, avoid collisions,orient the motorized transport unit at a proper alignment orientation toengage a movable item container, and so on.

The foregoing examples are intended to be illustrative and are notintended to convey an exhaustive listing of all possible sensors.Instead, it will be understood that these teachings will accommodatesensing any of a wide variety of circumstances or phenomena to supportthe operating functionality of the motorized transport unit 102 in agiven application setting.

By one optional approach an audio input 416 (such as a microphone)and/or an audio output 418 (such as a speaker) can also operably coupleto the control circuit 406. So configured the control circuit 406 canprovide a variety of audible sounds to thereby communicate with a userof the motorized transport unit 102, other persons in the vicinity ofthe motorized transport unit 102, or even other motorized transportunits 102 in the area. These audible sounds can include any of a varietyof tones and other non-verbal sounds. These audible sounds can alsoinclude, in lieu of the foregoing or in combination therewith,pre-recorded or synthesized speech.

The audio input 416, in turn, provides a mechanism whereby, for example,a user provides verbal input to the control circuit 406. That verbalinput can comprise, for example, instructions, inquiries, orinformation. So configured, a user can provide, for example, a questionto the motorized transport unit 102 (such as, “Where are the towels?”).The control circuit 406 can cause that verbalized question to betransmitted to the central computer system 106 via the motorizedtransport unit's wireless transceiver 412. The central computer system106 can process that verbal input to recognize the speech content and tothen determine an appropriate response. That response might comprise,for example, transmitting back to the motorized transport unit 102specific instructions regarding how to move the motorized transport unit102 (via the aforementioned motorized wheel system 410) to the locationin the shopping facility 101 where the towels are displayed.

In this example the motorized transport unit 102 includes a rechargeablepower source 420 such as one or more batteries. The power provided bythe rechargeable power source 420 can be made available to whichevercomponents of the motorized transport unit 102 require electricalenergy. By one approach the motorized transport unit 102 includes a plugor other electrically conductive interface that the control circuit 406can utilize to automatically connect to an external source of electricalenergy to thereby recharge the rechargeable power source 420.

By one approach the motorized transport unit 102 comprises an integralpart of a movable item container 104 such as a grocery cart. As usedherein, this reference to “integral” will be understood to refer to anon-temporary combination and joinder that is sufficiently complete soas to consider the combined elements to be as one. Such a joinder can befacilitated in a number of ways including by securing the motorizedtransport unit housing 402 to the item container using bolts or otherthreaded fasteners as versus, for example, a clip.

These teachings will also accommodate selectively and temporarilyattaching the motorized transport unit 102 to an item container 104. Insuch a case the motorized transport unit 102 can include a movable itemcontainer coupling structure 422. By one approach this movable itemcontainer coupling structure 422 operably couples to a control circuit202 to thereby permit the latter to control, for example, the latchedand unlatched states of the movable item container coupling structure422. So configured, by one approach the control circuit 406 canautomatically and selectively move the motorized transport unit 102 (viathe motorized wheel system 410) towards a particular item containeruntil the movable item container coupling structure 422 can engage theitem container to thereby temporarily physically couple the motorizedtransport unit 102 to the item container. So latched, the motorizedtransport unit 102 can then cause the item container to move with themotorized transport unit 102. In embodiments such as illustrated inFIGS. 2A-3B, the movable item container coupling structure 422 includesa lifting system (e.g., including an electric drive or motor) to cause aportion of the body or housing 402 to engage and lift a portion of theitem container off of the ground such that the motorized transport unit102 can carry a portion of the item container. In other embodiments, themovable transport unit latches to a portion of the movable itemcontainer without lifting a portion thereof off of the ground.

In either case, by combining the motorized transport unit 102 with anitem container, and by controlling movement of the motorized transportunit 102 via the aforementioned central computer system 106, theseteachings will facilitate a wide variety of useful ways to assist bothcustomers and associates in a shopping facility setting. For example,the motorized transport unit 102 can be configured to follow aparticular customer as they shop within the shopping facility 101. Thecustomer can then place items they intend to purchase into the itemcontainer that is associated with the motorized transport unit 102.

In some embodiments, the motorized transport unit 102 includes aninput/output (I/O) device 424 that is coupled to the control circuit406. The I/O device 424 allows an external device to couple to thecontrol unit 404. The function and purpose of connecting devices willdepend on the application. In some examples, devices connecting to theI/O device 424 may add functionality to the control unit 404, allow theexporting of data from the control unit 404, allow the diagnosing of themotorized transport unit 102, and so on.

In some embodiments, the motorized transport unit 102 includes a userinterface 426 including for example, user inputs and/or user outputs ordisplays depending on the intended interaction with the user. Forexample, user inputs could include any input device such as buttons,knobs, switches, touch sensitive surfaces or display screens, and so on.Example user outputs include lights, display screens, and so on. Theuser interface 426 may work together with or separate from any userinterface implemented at a user interface unit 114 (such as a smartphone or tablet device).

The control unit 404 includes a memory 408 coupled to the controlcircuit 406 and that stores, for example, operating instructions and/oruseful data. The control circuit 406 can comprise a fixed-purposehard-wired platform or can comprise a partially or wholly programmableplatform. These architectural options are well known and understood inthe art and require no further description here. This control circuit406 is configured (for example, by using corresponding programmingstored in the memory 408 as will be well understood by those skilled inthe art) to carry out one or more of the steps, actions, and/orfunctions described herein. The memory 408 may be integral to thecontrol circuit 406 or can be physically discrete (in whole or in part)from the control circuit 406 as desired. This memory 408 can also belocal with respect to the control circuit 406 (where, for example, bothshare a common circuit board, chassis, power supply, and/or housing) orcan be partially or wholly remote with respect to the control circuit406. This memory 408 can serve, for example, to non-transitorily storethe computer instructions that, when executed by the control circuit406, cause the control circuit 406 to behave as described herein. (Asused herein, this reference to “non-transitorily” will be understood torefer to a non-ephemeral state for the stored contents (and henceexcludes when the stored contents merely constitute signals or waves)rather than volatility of the storage media itself and hence includesboth non-volatile memory (such as read-only memory (ROM) as well asvolatile memory (such as an erasable programmable read-only memory(EPROM).)

It is noted that not all components illustrated in FIG. 4 are includedin all embodiments of the motorized transport unit 102. That is, somecomponents may be optional depending on the implementation.

FIG. 5 illustrates a functional block diagram that may generallyrepresent any number of various electronic components of the system 100that are computer type devices. The computer device 500 includes acontrol circuit 502, a memory 504, a user interface 506 and aninput/output (I/O) interface 508 providing any type of wired and/orwireless connectivity to the computer device 500, all coupled to acommunication bus 510 to allow data and signaling to pass therebetween.Generally, the control circuit 502 and the memory 504 may be referred toas a control unit. The control circuit 502, the memory 504, the userinterface 506 and the I/O interface 508 may be any of the devicesdescribed herein or as understood in the art. The functionality of thecomputer device 500 will depend on the programming stored in the memory504. The computer device 500 may represent a high level diagram for oneor more of the central computer system 106, the motorized transport unit102, the user interface unit 114, the location detection system 116, theuser interface computer 128, the MTU docking station 122 and the MTUdispenser 120, or any other device or component in the system that isimplemented as a computer device.

Additional Features Overview

Referring generally to FIGS. 1-5, the shopping assistance system 100 mayimplement one or more of several different features depending on theconfiguration of the system and its components. The following provides abrief description of several additional features that could beimplemented by the system. One or more of these features could also beimplemented in other systems separate from embodiments of the system.This is not meant to be an exhaustive description of all features andnot meant to be an exhaustive description of the details any one of thefeatures. Further details with regards to one or more features beyondthis overview may be provided herein.

Tagalong Steering: This feature allows a given motorized transport unit102 to lead or follow a user (e.g., a customer and/or a worker)throughout the shopping facility 101. For example, the central computersystem 106 uses the location detection system 116 to determine thelocation of the motorized transport unit 102. For example, LED smartlights (e.g., the ByteLight system) of the location detection system 116transmit a location number to smart devices which are with the customer(e.g., user interface units 114), and/or on the item container104/motorized transport unit 102. The central computer system 106receives the LED location numbers received by the smart devices throughthe wireless network 124. Using this information, in some embodiments,the central computer system 106 uses a grid placed upon a 2D CAD map and3D point cloud model (e.g., from the databases 126) to direct, track,and plot paths for the other devices. Using the grid, the motorizedtransport unit 102 can drive a movable item container 104 in a straightpath rather than zigzagging around the facility. As the user moves fromone grid to another, the motorized transport unit 102 drives thecontainer 104 from one grid to the other. In some embodiments, as theuser moves towards the motorized transport unit, it stays still untilthe customer moves beyond an adjoining grid.

Detecting Objects: In some embodiments, motorized transport units 102detect objects through several sensors mounted on motorized transportunit 102, through independent cameras (e.g., video cameras 118), throughsensors of a corresponding movable item container 104, and throughcommunications with the central computer system 106. In someembodiments, with semi-autonomous capabilities, the motorized transportunit 102 will attempt to avoid obstacles, and if unable to avoid, itwill notify the central computer system 106 of an exception condition.In some embodiments, using sensors 414 (such as distance measurementunits, e.g., laser or other optical-based distance measurement sensors),the motorized transport unit 102 detects obstacles in its path, and willmove to avoid, or stop until the obstacle is clear.

Visual Remote Steering: This feature enables movement and/or operationof a motorized transport unit 102 to be controlled by a user on-site,off-site, or anywhere in the world. This is due to the architecture ofsome embodiments where the central computer system 106 outputs thecontrol signals to the motorized transport unit 102. These controlssignals could have originated at any device in communication with thecentral computer system 106. For example, the movement signals sent tothe motorized transport unit 102 may be movement instructions determinedby the central computer system 106; commands received at a userinterface unit 114 from a user; and commands received at the centralcomputer system 106 from a remote user not located at the shoppingfacility space.

Determining Location: Similar to that described above, this featureenables the central computer system 106 to determine the location ofdevices in the shopping facility 101. For example, the central computersystem 106 maps received LED light transmissions, Bluetooth low energyradio signals or audio signals (or other received signals encoded withlocation data) to a 2D map of the shopping facility. Objects within thearea of the shopping facility are also mapped and associated with thosetransmissions. Using this information, the central computer system 106can determine the location of devices such as motorized transport units.

Digital Physical Map Integration: In some embodiments, the system 100 iscapable of integrating 2D and 3D maps of the shopping facility withphysical locations of objects and workers. Once the central computersystem 106 maps all objects to specific locations using algorithms,measurements and LED geo-location, for example, grids are applied whichsections off the maps into access ways and blocked sections. Motorizedtransport units 102 use these grids for navigation and recognition. Insome cases, grids are applied to 2D horizontal maps along with 3Dmodels. In some cases, grids start at a higher unit level and then canbe broken down into smaller units of measure by the central computersystem 106 when needed to provide more accuracy.

Calling a Motorized Transport Unit: This feature provides multiplemethods to request and schedule a motorized transport unit 102 forassistance in the shopping facility. In some embodiments, users canrequest use of a motorized transport unit 102 through the user interfaceunit 114. The central computer system 106 can check to see if there isan available motorized transport unit. Once assigned to a given user,other users will not be able to control the already assigned transportunit. Workers, such as store associates, may also reserve multiplemotorized transport units in order to accomplish a coordinated largejob.

Locker Delivery: In some embodiments, one or more motorized transportunits 102 may be used to pick, pack, and deliver items to a particularstorage locker 132. The motorized transport units 102 can couple to andmove the storage locker to a desired location. In some embodiments, oncedelivered, the requestor will be notified that the items are ready to bepicked up, and will be provided the locker location and locker securitycode key.

Route Optimization: In some embodiments, the central computer systemautomatically generates a travel route for one or more motorizedtransport units through the shopping facility space. In someembodiments, this route is based on one or more of a user provided listof items entered by the user via a user interface unit 114; userselected route preferences entered by the user via the user interfaceunit 114; user profile data received from a user information database(e.g., from one of databases 126); and product availability informationfrom a retail inventory database (e.g., from one of databases 126). Insome cases, the route intends to minimize the time it takes to getthrough the facility, and in some cases, may route the shopper to theleast busy checkout area. Frequently, there will be multiple possibleoptimum routes. The route chosen may take the user by things the user ismore likely to purchase (in case they forgot something), and away fromthings they are not likely to buy (to avoid embarrassment). That is,routing a customer through sporting goods, women's lingerie, baby food,or feminine products, who has never purchased such products based onpast customer behavior would be non-productive, and potentiallyembarrassing to the customer. In some cases, a route may be determinedfrom multiple possible routes based on past shopping behavior, e.g., ifthe customer typically buys a cold Diet Coke product, children's shoesor power tools, this information would be used to add weight to the bestalternative routes, and determine the route accordingly.

Store Facing Features: In some embodiments, these features enablefunctions to support workers in performing store functions. For example,the system can assist workers to know what products and items are on theshelves and which ones need attention. For example, using 3D scanningand point cloud measurements, the central computer system can determinewhere products are supposed to be, enabling workers to be alerted tofacing or zoning of issues along with potential inventory issues.

Phone Home: This feature allows users in a shopping facility 101 to beable to contact remote users who are not at the shopping facility 101and include them in the shopping experience. For example, the userinterface unit 114 may allow the user to place a voice call, a videocall, or send a text message. With video call capabilities, a remoteperson can virtually accompany an in-store shopper, visually sharing theshopping experience while seeing and talking with the shopper. One ormore remote shoppers may join the experience.

Returns: In some embodiments, the central computer system 106 can task amotorized transport unit 102 to keep the returns area clear of returnedmerchandise. For example, the transport unit may be instructed to move acart from the returns area to a different department or area. Suchcommands may be initiated from video analytics (the central computersystem analyzing camera footage showing a cart full), from an associatecommand (digital or verbal), or on a schedule, as other priority tasksallow. The motorized transport unit 102 can first bring an empty cart tothe returns area, prior to removing a full one.

Bring a Container: One or more motorized transport units can retrieve amovable item container 104 (such as a shopping cart) to use. Forexample, upon a customer or worker request, the motorized transport unit102 can re-position one or more item containers 104 from one location toanother. In some cases, the system instructs the motorized transportunit where to obtain an empty item container for use. For example, thesystem can recognize an empty and idle item container that has beenabandoned or instruct that one be retrieved from a cart storage area. Insome cases, the call to retrieve an item container may be initiatedthrough a call button placed throughout the facility, or through theinterface of a user interface unit 114.

Respond to Voice Commands: In some cases, control of a given motorizedtransport unit is implemented through the acceptance of voice commands.For example, the user may speak voice commands to the motorizedtransport unit 102 itself and/or to the user interface unit 114. In someembodiments, a voice print is used to authorize to use of a motorizedtransport unit 102 to allow voice commands from single user at a time.

Retrieve Abandoned Item Containers: This feature allows the centralcomputer system to track movement of movable item containers in andaround the area of the shopping facility 101, including both the salefloor areas and the back-room areas. For example, using visualrecognition through store cameras 118 or through user interface units114, the central computer system 106 can identify abandoned andout-of-place movable item containers. In some cases, each movable itemcontainer has a transmitter or smart device which will send a uniqueidentifier to facilitate tracking or other tasks and its position usingLED geo-location identification. Using LED geo-location identificationwith the Determining Location feature through smart devices on eachcart, the central computer system 106 can determine the length of time amovable item container 104 is stationary.

Stocker Assistance: This feature allows the central computer system totrack movement of merchandise flow into and around the back-room areas.For example, using visual recognition and captured images, the centralcomputer system 106 can determine if carts are loaded or not for movingmerchandise between the back room areas and the sale floor areas. Tasksor alerts may be sent to workers to assign tasks.

Self-Docking: Motorized transport units 102 will run low or out of powerwhen used. Before this happens, the motorized transport units 102 needto recharge to stay in service. According to this feature, motorizedtransport units 102 will self-dock and recharge (e.g., at a MTU dockingstation 122) to stay at maximum efficiency, when not in use. When use iscompleted, the motorized transport unit 102 will return to a dockingstation 122. In some cases, if the power is running low during use, areplacement motorized transport unit can be assigned to move intoposition and replace the motorized transport unit with low power. Thetransition from one unit to the next can be seamless to the user.

Item Container Retrieval: With this feature, the central computer system106 can cause multiple motorized transport units 102 to retrieveabandoned item containers from exterior areas such as parking lots. Forexample, multiple motorized transport units are loaded into a movabledispenser, e.g., the motorized transport units are vertically stacked inthe dispenser. The dispenser is moved to the exterior area and thetransport units are dispensed. Based on video analytics, it isdetermined which item containers 104 are abandoned and for how long. Atransport unit will attach to an abandoned cart and return it to astorage bay.

Motorized Transport Unit Dispenser: This feature provides the movabledispenser that contains and moves a group of motorized transport unitsto a given area (e.g., an exterior area such as a parking lot) to bedispensed for use. For example, motorized transport units can be movedto the parking lot to retrieve abandoned item containers 104. In somecases, the interior of the dispenser includes helically wound guiderails that mate with the guide member 208 to allow the motorizedtransport units to be guided to a position to be dispensed.

Specialized Module Retrieval: This feature allows the system 100 totrack movement of merchandise flow into and around the sales floor areasand the back-room areas including special modules that may be needed tomove to the sales floor. For example, using video analytics, the systemcan determine if a modular unit it loaded or empty. Such modular unitsmay house items that are of seasonal or temporary use on the salesfloor. For example, when it is raining, it is useful to move a moduleunit displaying umbrellas from a back room area (or a lesser accessedarea of the sales floor) to a desired area of the sales floor area.

Authentication: This feature uses a voice imprint with an attentioncode/word to authenticate a user to a given motorized transport unit.One motorized transport unit can be swapped for another using thisauthentication. For example, a token is used during the session with theuser. The token is a unique identifier for the session which is droppedonce the session is ended. A logical token may be a session id used bythe application of the user interface unit 114 to establish the sessionid when user logs on and when deciding to do use the system 100. In someembodiments, communications throughout the session are encrypted usingSSL or other methods at transport level.

Further Details of Some Embodiments

In accordance with some embodiments, further details are now providedfor one or more of these and other features. For example, generallyspeaking, pursuant to various embodiments, systems, apparatuses,processes and methods are provided herein that allow for accuratemonitoring and identification of areas of a shopping facility that arein need of attention or one or more actions by one or more shoppingfacility associates or employees. The one or more actions can include,for example, restocking products onto a shelf, adjusting a positioningof items of a product on a shelf so that the items are proximate anouter edge of the shelf (sometimes referred to as “facing”), moving anincorrectly placed product, other such actions, or combinations of suchactions. The accurate placement and stock level of products on shelves,on racks, or otherwise positioned to be readily visible and accessibleto customers as they travel through the retail facility can dramaticallyimprove sales. It is noted that some embodiments are described withreference to products placed on a shelf; however, it will be appreciatedby those skilled in the art that the descriptions are not limited toshelves, but can be applied to racks, bins, modulars, cases, andsubstantially any product support structure at a shopping facility thatsupports and/or holds products.

Often, customers are more likely to purchase products when they arereadily visible to them. Similarly, impulsive shoppers see products thatare at the front of the shelf and are more likely to add these items totheir cart. In many instances, when products are only located at theback of a shelf or missing, customers are often less likely to purchasethe product. As such, maintaining desired quantities of products and indesired and/or optimal position can be extremely advantageous to salesand the shopping facility. Accordingly, some embodiments utilizeshopping facility mapping and product mapping that define where productsare within the shopping facility and on what area of a particular shelf,and can identify products and items on the shelf that may be in needattention. Further, some embodiments use three-dimensional (3D)scanning, point cloud measurements and/or 3D scan mapping in cooperationwith shopping facility mapping and/or product mapping relative to theshopping facility to determine where products are supposed to be whileenabling shopping facility colleagues and associates to be alerted tofacing, zoning and other such product placement issues. Such informationmay additionally provide notification of potential inventory issues.Further, effectively maintaining products in desired positions and/orfaced on the shelf increases in difficulty as the number of productsoffered at shopping facilities increases.

In some implementations, the 3D scans are acquired by moving one or more3D scanners through relevant portions of the shopping facility. Duringthe movement of the 3D scanners, a series of 3D scans can be acquired.These series of scans can be evaluated relative to product placement onethe one or more shelves. Further, some embodiments evaluate the 3D scansrelative to a baseline scan and/or one or more threshold conditions,which can be product specific and/or shelf specific. The movement of theone or more scanners allows multiple shelves and correspondinglymultiple products to be evaluated. Some embodiments mount one or more 3Dscanners to a motorized transport unit that is controlled to positionthe one or more 3D scanners in relevant positions to obtain the desiredscans.

FIG. 6 illustrates a block diagram of an exemplary shopping assistancesystem 600, similar to that of FIG. 1, as configured in accordance withvarious embodiments of these teachings. The shopping assistance system600 includes the components of FIG. 1, with the addition of one or morethree-dimensional (3D) scanners 602 that are configured to be movedthrough the shopping facility to acquire 3D scans of products, shelves,bins, cases, modulars, and other such devices on which products areplaced and that are spaced through the shopping facility. In someembodiments, the shopping facility assistance system 600 furtherincludes and/or implements a shopping facility product monitoring systemconfigured to monitor product placement on shelves, racks, cases, binsand other such product support structures distributed throughout theshopping facility, in accordance with some embodiments. The productmonitoring system is configured to obtain data corresponding to productplacement on the shelves, and based on the product placement determinewhether one or more actions should be taken relative to the productplacement, including a lack of items of a product available forcustomers on a shelf. In some implementations, the data evaluated caninclude three-dimensional (3D) scans obtained from the one or more 3Dscanners 602, and/or 3D mapping generated from a series of 3D scans.

In some embodiments, the control circuit 108 includes a productmonitoring control circuit and/or provides functionality to implement aproduct monitoring control circuit. The control circuit couples with thememory 110 and databases 126. In some embodiments, the memory 110 and/ordatabases 126 may store some or all of particular data that may beneeded to evaluate product placement, shelf conditions, otherwisemonitor products within the shopping facility based on one or moreseries of 3D scans and corresponding composite 3D scan mapping,establish and/or maintain communications, make any of the determinationsand/or corrections described herein, and the like. For example, thedatabases 126 may store relevant information such as but not limited totwo-dimensional (2D) shopping facility mapping, 3D shopping facilitymapping, product mapping, 3D product scans, images of products, productinformation (e.g., inventory, types of products, details about products,product dimensions, images of products, pricing, promotionalinformation, etc.), inventory information, product position and/orplacement information, product stock levels, customer information (e.g.,customer profiles, log-in information, contact information, types ofuser interface units used by the customer, shopping list(s),preferences, etc.), motorized transport unit identifying information,capabilities of the motorized transport units, movable item containeridentifying information, location information, lighting patterns, lightsource identifiers, light source mapping, commands, codes, code locationmapping, software, applications, executables, log and/or historicinformation, other such relevant information, and typically acombination of two or more of such information. Such data may bepre-stored in the memory or be received, for example, from one or more3D scanners, the motorized transport units 102, the movable itemcontainers 104, customer and/or shopping facility associate userinterface units 114, external servers, other sources, or combinations ofsuch sources.

In some embodiments, the one or more 3D scanners 602 are configured toscan at least the product shelves and corresponding products on theshelves as the 3D scanners are moved through the shopping facility. The3D scanners, in some embodiments, utilize an array of one or more lasersthat are used to measure at least distances between the 3D scanner andone or more objects of interest. For example, some embodiments utilize3D scanners from FARO Technologies, Inc. The 3D scanners can generate aseries of 3D scans that can be cooperated to generate a composite 3Dmapping of areas of the shopping facility.

In some implementations the control circuit 108 evaluates the 3D scansand/or 3D scan mapping. Similarly, in some applications, the controlcircuit obtains one or more series of 3D scans and compiles the seriesof 3D scans to generate one or more scan mapping. In other embodiments,the central computer system 106 includes one or more 3D scan mappingevaluators or couples with one or more 3D scan mapping evaluators thatperforms some or all of the evaluations of the 3D scan mapping relativeto thresholds, baseline or reference 3D scans and/or mappings, storemapping, product mapping, product scans, other such evaluations, orcombinations of such evaluations. The 3D scan mapping evaluation allowsthe product monitoring system to identify areas and/or products withinthe shopping facility for which action may need to be performed, such asmoving items of a product forward toward an outer or exposed end of ashelf, restocking or adding additional items of a product to a shelf,returning an item to a corrected location within the shopping facility,and other such actions.

The control circuit and/or 3D scan mapping evaluator, in someembodiments, receives one or more 3D scans from one or more 3D scanners602 and identifies relative distances. Further, in some implementations,the control circuit and/or 3D scan mapping evaluator is configured tocompile series of 3D scans to define a 3D mapping, while in otherimplementations the 3D scanner or other component cooperates the seriesof 3D scans to form a 3D mapping. The 3D mapping can be evaluatedrelative one or more thresholds and/or a reference or baseline mapping.

By monitoring products on the shelves, the central computer system canenhance product visibility, improve customer shopping experiences,improve on shopping facility employee efficiency and effectiveness,increase sales, and other such benefits. The 3D scans can then beevaluated to identify when product placement is less than optimal andwhen a shelf has insufficient quantities of a product. In someimplementation, the 3D scans are captured by moving one or more 3Dscanners 602 through at least portions of the shopping facility andactivating the 3D scanners to acquire the 3D scans, and typically aseries of 3D scans as the 3D scanners are moved through at least theportions of the shopping facilities.

In some instances, one or more shopping facility associates, colleaguesand/or other such workers can move the 3D scanner through the shoppingfacility allowing the 3D scanner to capture scans of different areas ofthe shopping facility. For example, a shopping facility worker maymanually carry one or more 3D scanners as scans are acquired. As anotherexample, one or more 3D scanners may be positioned on a movablestructure or device that can be physically moved by the shoppingfacility associate. Additionally or alternatively, some implementationscooperate one or more 3D scanners with a motorized transport unit 102that can utilize its internal locomotion system to physically move theone or more 3D scanners through relevant portions of the shoppingfacility while the 3D scanners acquire the desired 3D scans andtypically one or more series of 3D scans.

Again, the motorized transport units 102 are self-propelled andconfigured to move themselves throughout at least some, if not all ofthe shopping facility. Typically, the motorized transport units 102wirelessly receive commands from the central computer system 106, whichmay include a location controller and/or route controller that candirect the motorized transport units to desired locations and/or alongdesired routes within or outside of the shopping facility. Further, insome embodiments, one or more of the available motorized transport units102 can be configured to carry one or more 3D scanners 602. In someimplementations, the movable structure that supports the one or more 3Dscanners may be a movable item container 104.

In some embodiments, the motorized transport units 102 and/or themovable item containers 104 provide information to the central computersystem 106 to allow the central computer system to accurately identify arelevant location of the motorized transport unit, movable itemcontainer and/or 3D scanners at the shopping facility. Typically, themotorized transport units 102 are configured with one or more detectionsystems or sensors 414 (e.g., light detectors, measurement systems,etc.) that can provide relevant information to the central computersystem.

FIG. 7 shows a simplified block diagram of an exemplary motorizedtransport unit 702, similar to the motorized transport unit in FIG. 4,in accordance with some embodiments. Again, the motorized transportunits 702 are self-propelled and configured to move themselvesthroughout at least some, if not all of the shopping facility. In someembodiments, the motorized transport units 702 wirelessly receivecommands from the central computer system 106 (or the control circuit)to direct the motorized transport units to desired locations and/oralong desired routes within or outside of the shopping facility.Additionally, in some implementations, one or more motorized transportunits are configured to move one or more 3D scanners 602 through theshopping facility in accordance with movement commands and/or routinginformation provided by the central computer system. In someembodiments, the movable item container may be configured to support oneor more 3D scanners, and/or a movable item container may be a devicespecifically constructed to support one or more 3D scanners intended tobe moved through the shopping facility.

The motorized transport unit includes one or more control circuit 406,one or more memory 408, one or more input/output (I/O) devices orinterfaces 424, and one or more locomotion systems 710 (such as amotorized wheel system 410). The motorized transport unit may furtherinclude a user interface 426. Further, the motorized transport unit mayalso include one or more sensors and/or measurement units, such as butnot limited to one or more distance measurement units 708, lightreceiver units 704, optical and/or machine readable code readers 706,movement tracker units 712, location controller 716, camera and/or videorecording unit 718, other such measurement units, and typically acombination of such measurement units. In some embodiments, themotorized transport unit 702 includes one or more tags 714 or otherdevice that may be detectable, such as by location tracking unitslocated at one or more positions throughout the shopping facility, byone or more movable item containers 104, or by other systems of theproduct monitoring system. In some embodiments, the tag 714 is an RFIDtag or other tag, and can in some instances provide a unique identifierof the motorized transport unit.

The locomotion system 710 includes and controls one or more motors ofthe motorized transport unit to at least cause the motorized transportunit to move throughout one or more areas within and/or exterior to theshopping facility. Typically, the locomotion system controls the one ormore motors in accordance with one or more commands, positioninformation, mapping coordinates, destination locations and the like. Insome embodiments, the central computer system 106 and/or a locationcontroller is configured to issue movement commands based on adetermined and/or predicted location of the motorized transport unit.

In some embodiments, the motorized transport unit 702 further includesthe movement tracker unit 712 that is configured to track one or moreparameters corresponding to the movement and/or orientation of themotorized transport unit. For example, the movement tracker unit mayinclude and/or communicate with one or more accelerometers, gyroscopes,compass, wheel or tread velocity or rate meters, odometer based on wheeland/or tread movement, global positioning satellite (GPS) information,Wi-Fi signal evaluation, and/or other such movement parameters. Theseparameters can be used in determining, predicting, and/or fine tuning alocation of the motorized transport unit.

FIG. 8A illustrates a simplified block diagram of an exemplary 3Dscanner 602, in accordance with some embodiments. The 3D scannerincludes a control circuit 802, memory 804, one or more input/output(I/O) interfaces 808, one or more lasers, laser array emitters oroutputs 812, and one or more laser array detectors 814. The 3D scannertypically also includes and one or more user interfaces 810. In someimplementations, the 3D scanner may optionally also include one or more3D scan mapping evaluators 816 and/or 3D scan compilers 818.

The control circuit 802 of the 3D scanner 602 typically comprises one ormore processors and/or microprocessors. Generally, the memory 804 storesthe operational code or set of instructions that is executed by thecontrol circuit 802 and/or processor to implement the functionality ofthe 3D scanner. In some embodiments, the memory 804 may also store someor all of particular data that may be needed to implement scans, andmake any determinations, measurements and/or communications describedherein. Such data may be pre-stored in the memory and/or received from aremote source such as but not limited to the central computer system106, other 3D scanner, a motorized transport unit, a user interface unit114, the movable item container 104, other source, or combination ofsuch sources. It is understood that the control circuit 802 and/orprocessor may be implemented as one or more processor devices as arewell known in the art. Similarly, the memory 804 may be implemented asone or more memory devices as are well known in the art, such as one ormore processor readable and/or computer readable media and can includevolatile and/or nonvolatile media, such as RAM, ROM, EEPROM, flashmemory and/or other memory technology. Further, the memory 804 is shownas internal to the 3D scanner; however, the memory 804 can be internal,external or a combination of internal and external memory. Additionally,a power supply (not shown) is typically included to power one or more ofthe components, or power may be received from an external source. WhileFIG. 8A illustrates the various components being coupled together via abus, it is understood that the various components may actually directlycouple with the control circuit 802 and/or one or more other components.

Generally, the control circuit 802 and/or electronic components of the3D scanner 602 can comprise fixed-purpose hard-wired platforms or cancomprise a partially or wholly programmable platform. Thesearchitectural options are well known and understood in the art andrequire no further description here. The 3D scanner 602 and/or controlcircuit 802 can be configured (for example, by using correspondingprogramming as will be well understood by those skilled in the art) tocarry out one or more of the steps, actions, and/or functions describedherein.

The control circuit 802 can be configured, in part, to provide overallcontrol and/or coordinate operation of the components of the movableitem container. For example, the control circuit 802 can activate,deactivate and otherwise control the one or more laser array emitters812, instruct and/or activate one or more transmitters, receivers, ortransceivers of the I/O interface 808 to communicate with the centralcomputer system 106, one or more the motorized transport units, userinterface units 114, and the like, initiate actions in response tocommands received (e.g., from the central computer system 106, inputsreceived through the user interface 810, etc.), and other such actionsand control. As another example, the control circuit 802 may activatethe one or more laser array emitters 812 and corresponding one or morelaser array detectors 814 to measure and/or capture multiple series of3D scans that can be evaluated, compiled and/or communicated to thecentral computer system 106.

In some embodiments, the user interface 810 is included, which may beused for user input, output display, output audio, and the like. Forexample, the user interface 810 may include any known input devices,such one or more buttons, knobs, selectors, switches, keys, touch inputsurfaces, audio input, and/or displays, etc. Additionally, the userinterface may include one or more output audio and/or display devices,such as lights, visual indicators, display screens, speakers, buzzers,etc. to convey information to a user (e.g., display 3D scans, composite3D scans, composite 3D mapping, status information, notifications,errors, conditions, and/or other such information).

The one or more I/O interfaces 808 allow wired and/or wirelesscommunication coupling of the 3D scanner to external components, such asthe central computer system 106, the databases 126, the motorizedtransport units, the user interface units 114, and other suchcomponents. Accordingly, the I/O interface 808 may include any knownwired and/or wireless interfacing device, circuit and/or connectingdevice, such as but not limited to one or more transmitter, receiver,transceiver, etc. For example, in some implementations, the I/Ointerface provides wireless communication in accordance with one or morewireless protocols (e.g., Wi-Fi, Bluetooth, radio frequency (RF), etc.),providing communication through electromagnetic, optical or acousticwaves carry a signal through atmospheric space rather than along a wire.Accordingly, in some implementations, the 3D scanner can communicate theobtained 3D scans and/or composite scans to the central computer system106. For example, in some implementations, the 3D scanner can storescans to be transferred later (e.g., upon completing one or more seriesof scans). In other instances, the 3D scanner may not wait tocommunicate the scans or may only wait a limited amount of time tocommunicate one or more scans, such as via a wireless communication.Still further, the 3D scanner may be communicationally coupled with themotorized transport unit to communicate the 3D scans to the motorizedtransport units to be relayed to the central computer system 106.

The 3D scanner 602 can, in some implementations, further include one ormore 3D scan mapping evaluators 816. The 3D scan mapping evaluator isconfigured to evaluate one or more 3D scans and/or 3D scan mapping toevaluate the scans and/or mapping relative to one or more thresholdsand/or one or more reference scans and/or 3D reference mappings. The 3Dscan evaluator can be configured to evaluate individual scans of aseries of 3D scans, and/or configured to evaluate composite 3D scansformed from a composite of multiple 3D scans. Similarly, in someembodiments, the 3D scanner includes one or more 3D scan compilers 818that are configured to cooperate, combine, interlace or otherwisecompile two or more 3D scans to provide one or more composite 3D scansand/or 3D scan mappings of areas of the shopping facility, includingareas of a shelf for multiple different shelves throughout the shoppingfacility.

In some embodiments, the central computer system 106 receives the seriesof 3D scans and utilizes the scans to compile a 3D mapping of areas ofthe shelves and products on those shelves. In some embodiments, the 3Dscanner provides one or more composite 3D scans. A 3D mapping isgenerated based on the scans that define at least relative distanceswithin the areas captured by the scans. Utilizing the mapping of theshopping facility and product mapping and placement in cooperation withthe 3D mapping, product placement one or more shelves is evaluatedrelative to product placement and/or an evaluation of one or more itemsplaced on the shelf.

In some embodiments, one or more 3D scanners may be positioned on and/orcoupled with a motorized transport unit (e.g., motorized transport unit702) allowing the motorized transport unit to transport the one or more3D scanners through at least portions of the shopping facility to allow3D scans to be acquired. Typically, the motorized transport unit isprovided with movement instructions and/or route information from thecentral computer system 106. In response to the commands, the motorizedtransport unit moves one or more the 3D scanner.

FIG. 8B shows a simplified plane view of a plurality of exemplary 3Dscanners 602 cooperated with an exemplary motorized transport unit 702,in accordance with some embodiments. In some embodiments, the 3Dscanners are mounted within a frame 822, post, or other structure thatis secured with the motorized transport unit. The frame 822 can supportmultiple 3D scanners 602 at different heights. Accordingly, themotorized transport unit can be issued commands from the centralcomputer system 106 to move the 3D scanners 602 throughout at leastportions of the shopping facility. In some embodiments, the frame may beconfigured to change an elevation and/or angular orientation relative tothe motorized transport unit (e.g., frame may include one or moretelescoping sections that can raise or lower, and/or be mounted on aplate or the like that can rotate). For example, some embodimentsinclude a telescoping post that supports one or more 3D scanners thatcan be used to raise and lower the 3D scanners, and in some instancesmay allow rotation of the 3D scanners. Corresponding actuators, motorsor the like can be used to implement relevant movement of the frameand/or 3D scanners.

FIG. 9 shows simplified block diagram of a motorized transport unit 702supporting and moving multiple exemplary 3D scanners 602 along anexemplary modular 900 having multiple shelves 902 that supports multipledifferent products, in accordance with some embodiments. Each 3D scanneris configured to preform one or more, and typically a series of multiple3D scans 904 or scan patterns that can be utilized and/or stitched orotherwise cooperated to form 3D mappings.

FIG. 10 shows a simplified overhead view of at least a portion of ashopping facility with an exemplary defined scanning route 1002, inaccordance with some embodiments. Multiple shelves 902, modulars, bins,cabinets, and/or other such product support structures are positioneddistributed throughout the shopping facility. The one or more 3Dscanners 602 are moved through amongst the shelves 902 while acquiringthe multiple series of 3D scans. As described above and further below,in many implementations one or more 3D scanners are mounted and/orcoupled with a motorized transport unit (e.g., motorized transport unit702). The central computer system 106 can issue movement commands and/orcommunicate route information to the motorized transport unit to beimplemented and/or followed by the motorized transport unit to obtainthe desired series of 3D scans.

Further illustrated in FIG. 10 is a series of arrows representative ofan example scanning route or routes 1002. One or more legs of thescanning route 1002 may be repeated. For example, in someimplementations one or more legs of the route may be repeated with theone or more 3D scanners 602 positioned at different heights and/or atdifferent orientations or angles relative to the shelves 902. Further,in some applications, the route or portions of the route may becontinuously repeated, such as following the completion of the route theone or more 3D scanners may be returned to again implement a scan. Thisrepeating can provide continuous feedback regarding the state ofproducts within the shopping facility. Further, FIG. 10 shows a singlemotorized transport unit moving one or more 3D scanners 602. Someembodiments may provide multiple different motorized transport unitsthat can operate simultaneously or at different times travelingdifferent routes, parts of the same routes, or the same routes.

In some embodiments, the central computer system 106 provides the one ormore motorized transport units with one or more consistent routes orpath to follow. Further, in some instances, the route and/or movementcommands include or provide a desired distance from the shelf 902 whenthe 3D scans are being performed. As described herein, the motorizedtransport unit typically includes sensors, and one such sensor caninclude a distance sensor that can be used to maintain an accuratedistance between the motorized transport unit 702 and a shelf 902 toachieve a desired scan. This distance may vary, for example, dependingon the portion of a shelf being scanned, a desired angle of scan, adesired width, a product being scanned, a type of shelf or bin or casebeing scanned, other such factors, or a combination of such factors. Inmany implementations, the distance between the motorized transport unitand the shelf is less than one meter. By using a consistent route,customers and shopping facility associates easily learn or know what toexpect when the motorized transport unit is moving. Typically, themotorized transport units travel are relatively slow speeds, and candepend on the scan being performed, area being scanned, whetherobstructions are present, congestion within aisles, and other factors.Further, the routing can help the 3D scanners 602 to detect, maintain orreestablishes reference points when moving (e.g., predefined markers,ends of aisles, ends of modulars, etc.). Still further, in someinstances, the 3D scans are configured to be in a single direction. Inother implementations, however, the 3D scans may be taken in multipledirections (e.g., with the 3D scanners moving down generally a center ofan aisle with scans performed on shelves on both sides of the 3Dscanners).

Again, the series of 3D scans are evaluated regarding the placement ofproducts on the shelves 902. In some embodiments, one or more baselineor reference 3D scans are generated with product placement on theshelves at desired or ideal conditions (e.g., fully stocked to a desireddepth and faced with a first row of the product placed at a desiredreference location or offset distance proximate an outer or front edgeor end of the shelf). For example, in some instances the referenceoffset distance may be at the outer edge of the shelf, but typically thereference offset is an offset distance from the outer most exposed edgeof the shelf. In some implementations, the reference offset isdetermined in response to the baseline 3D scans, while in otherinstances, it is determined prior to the baseline 3D scans are performedand the product placed at the desired reference offset from the outeredge of the shelf. The reference offset typically varies betweenproducts, their placement on shelves and other such factors. Forexample, with heavier and/or more fragile products it may be desirableto have a greater reference offset than other products. Similarly,products place on lower shelves may be allowed to have a reducedreference offset than products placed on higher shelves. Further, tallerproducts may allow for a greater reference offset than shorter products.Accordingly, reference offsets are often dependent upon a product,placement on a product support structure, weight of a product, height ofa product, number of products that are typically stacked upon eachother, other such factors, and typically a combination of two or more ofsuch factors.

Typically, the reference or baseline scans correspond to how productsshould be placed. In some embodiments, the baseline scans are generatedwith 360 degree laser scans that are cooperated or stitched together toform a large 360 degree 3D model and/or 3D mapping. The one or more 3Dscanners 602 are moved by the motorized transport units to acquiremultiple subsequent or delta 3D scans. In some embodiments, thesubsequent 3D scans are obtained through one or more triangulationscanners position at different heights. Further, in someimplementations, the 3D scanning sessions for the subsequent 3D scansare activated relative to a shelf, modular, or portion of a shelf. The3D scans and/or 3D scan mapping are evaluated relative to one or morethresholds and/or the baseline scan. For example, a composite 3D scanmapping corresponding to a select area of a shelf and based on a seriesof 3D scan data can be compared to and/or evaluate based upon modulartolerances or thresholds. Typically, such tolerances or thresholds areset and maintained by shopping facility associates and/or colleagues.The thresholds may be based upon staffing, whether a shelf can take afull case for replenishment as some shopping facilities do not open andstock a partial case, optimum sales, associate efficiency, productpopularity, predicted sales, whether the product is on sale, and/orother such factors or combinations of two or more of such factors.

In some embodiments, the central computer system compares baseline scanswith subsequent 3D scans while moving one or more 3D scanners from onemodular to another analyzing product placement and distance of productfrom an edge of the shelf and/or to a back of the shelf, or bycalculating an area or volume and comparing it to a baseline area orvolume and/or a threshold area or volume. When thresholds are exceeded,associates are notified via text, email, voice mail, or some otherelectronic notification that the modular needs attention. Associates canacknowledge the alert, correct the situation, and follow up to thecentral computer system with their completion of task status. Thecentral computer system may record or otherwise log actions of themotorized transport units, 3D scanners 602, and associates and/orcolleagues. Such logs may be used in performance analysis, efficiencyanalysis, product throughput and/or other such analysis.

FIG. 11 shows a simplified perspective view of an exemplary baseline 3Dscan mapping of at least a portion of a shelf 902 or support structurewith a desired or ideal quantity of items 1102 of a product being placedon the shelf, in accordance with some embodiments. In thisrepresentative example, the first items of the product are placed at areference offset 1104 from the outer, front, or exposed edge 1106 of theshelf 902. Typically, a series of 3D scans are used to generate the 3Dmapping. The 3D mapping can then be used as the baseline or reference inevaluating subsequent or delta 3D scans and resulting 3D scan mappings.Often the items 1102 are arranged in rows extending away from the outeredge 1106 of the shelf 902, with customers typically retrieving itemsclosest to the outer edge of the shelf such that as the quantity ofitems decreases the available items are typically further from the edge1106 of the shelf.

FIG. 12 shows a simplified perspective view of an exemplary subsequent3D scan mapping of at least the portion of the shelf 902 of FIG. 11,with many of the items 1102 of the product having been removed, inaccordance with some embodiments. Again, items are typically removedfrom those closest to the outer edge resulting in items at a front of arow progressively being further from the edge 1106 of the shelf as itemsare removed. The 3D scan mappings are evaluated relative to the baselinescan and/or one or more thresholds in determining whether actions shouldbe taken with respect to the product and portion of the shelf beingevaluated. In some embodiments, the evaluation includes evaluating depthdistances 1202-1204 between from the reference offset 1104 or the outeredge 1106 of the shelf to the first item of the product in each row ofproducts. These depth distances 1202-1204 are evaluated, in someimplementations, relative to one or more threshold distances 1206(generally referred to as a depth distance threshold), which maycorrespond to when it is desired that a row of items of a product be“faced” and moved closer to the edge 1106 of the shelf, and typically tothe reference offset 1104. For example, when one or more rows of aproduct are more than the depth distance threshold 1206 from the edge ofthe shelf and/or from the reference offset 1104, the central computersystem may set a flag corresponding to the product and/or the specificlocation on the shelf using the retail facility mapping and/or productmapping. In response to the facing flag being set, a notification can becommunicated to one or more shopping facility associates notifying themthat items of the product should be faced, restocked or otherwiseaddressed.

In other instances, the notification to the shopping facility associateis not immediately communicated in response to detecting a row beingfurther from the reference offset than a depth distance threshold 1206.This is because there may be only a single row that is further than thefacing distance threshold from the reference offset, and such anotification would likely be an inefficient use of the associate's time.Instead, the central computer system may further evaluate an area of theshelf corresponding to the product of interest that are empty of itemsof the product relative to one or more threshold areas in determiningwhen to notify shopping facility that action should be taken.

FIG. 13 shows a simplified perspective view of an exemplary 3D scanmapping of at least the portion of the shelf 902 of FIG. 11, with items1102 of the product having been removed by customers, in accordance withsome embodiments. Further illustrated is an exemplary empty area 1302corresponding to one or more areas where items of a product have beenremoved, and in the illustration of FIG. 13 shows that the availableproducts present are further than the depth distance threshold 1206 thanfrom the reference offset 1104. Utilizing the 3D scan mapping, thecentral computer system can identify and/or determine the empty area orareas 1302, and evaluate the empty area 1302 relative to a facing areathreshold 1304. The facing area threshold may correspond to the depthdistance threshold 1206, while in other embodiments, the facing areathreshold may be unrelated to the facing distance threshold.Additionally or alternatively, the facing area threshold may bedependent at least in part on a quantity of items of the product thatare within a single case or other such packaging. For example, someshopping facilities may not restock a shelf until there is empty spaceto receive at least a full case of items of the product so that partialcases do not have to be stored.

In identifying that the empty area 1302 is greater than the facing areathreshold 1304, the central computer system 106 can then issue anotification to one or more shopping facility associates requesting thatone or more actions be taken. Typically, the requested action may dependon one or more factors, such as the size of the empty area 1302, a ratioof the empty area to the facing area threshold 1304, whether the emptyarea 1302 can receive a full case of the product or whole numbermultiples of cases of the product, or other such factors. In someinstances, a further restocking area threshold (not shown) is alsoconsidered. The restocking area threshold may correspond to an area thatis greater than the facing area threshold. As such, if the centralcomputer system detects that the empty area 1302 is equal to or greaterthan the facing area threshold but less than the restocking areathreshold, the central computer system may issue a notification orinstruction to the one or more shopping facility associates to go to thearea of the shelf and move the items of the product closer to or up tothe reference offset (or the edge 1106 of the shelf 902 depending on theproduct and other such factors). Alternatively, when the empty area 1302is equal to or greater than the restocking area threshold the centralcomputer system can issue a request that the associate restock at leastthat area of the shelf 902. Similarly, the central computer system maytake into consideration other factors, such as what is available instock of the product being evaluated. For example, if there are noadditional items of the product in stock, the central computer systemwill not issue the request to restock even when the empty area 1302meets or exceeds the restocking area threshold. Instead, the centralcomputer may limit the notification to only a request for a facing ofthe product at the identified area of the shelf In this way, the centralcomputer system may at least in part improve or optimize the efficiencyof shopping facility associate.

Additionally or alternatively, some embodiments monitor productsrelative to a number of items of the product that are available on oneor more shelves and accessible to customers. One or more thresholds canbe evaluated to determine whether restocking should be performed. Forexample, some embodiments identify from the evaluation of the 3D scanmapping and relative to each of multiple rows of items of the productsupported by the product support structure whether a threshold number ofitems are present within each expected row, with each of the multiplerows of items including one or more of the items 1102 arranged extendingaway from the edge of the shelf. Similarly, the evaluation can identifythat all products within an expected row have been removed. For example,the evaluation of the 3D mapping can identify a gap between rows ofproducts (whether rows of the same product or two different products),and/or a spacing between rows that is greater than a gap threshold,which typically corresponds to a known or determined width of a productbeing evaluated. The evaluation can further identify, for example, thata threshold number of rows within the select area do not have at leastthe threshold number of items. In response to detecting a lack of adesired quantity of items at the area of the shelf being evaluated, arestocking notification can be issued to a shopping facility associate.In some implementations, this evaluation can include evaluating productseven when items of the products are fully faced, partially faced and notfaced.

FIG. 14 shows a simplified perspective view of an exemplary 3D scanmapping of at least the portion of a shelf 902 with items 1102substantially faced at the reference offset with an empty area behind aplurality of items of the product, in accordance with some embodiments.In some implementations, the one or more 3D scanners 602 can bepositioned to capture 3D scans that can include the depth or a number ofproducts deep on a shelf. Again, some embodiments provide 3D scans atmultiple different heights. These different heights can allow for amapping of depths on shelves. The 3D mappings can be evaluated todetermine whether a threshold number of items are present within eachrow, with each of the multiple rows of items includes one or more of theitems arranged extending away from the edge of the shelf. Someembodiments further identify whether a threshold number of rows withinthe select area do not have at least the threshold number of items.

Additionally or alternatively, a product depth distance threshold may beevaluated for each row, and/or a depth area threshold 1402 may beconsidered in determining whether a sufficient numbers of items of theproduct are available to customers (e.g., items of a product fill lessthan a depth area threshold 1402). Again, the central computer systemcan issue a request or instruction to a shopping facility associate totake action relative to insufficient quantities of a product. Forexample, the central computer system may issue restocking commands.Again, the evaluation may take into consideration other factors, such asavailable stock of the product, available associates, other restockingand/or facing that have been identified, prioritization of restockingand/or facing needs, and the like. The prioritization may be based on adifference between available items of products and one or morethresholds, products in stock, products on order, likelihood a productis to be purchased and/or popularity of products, expected shipments ofproducts, other such factors, and typically a combination of two or moreof such factors.

Similarly, the central computer system can be configured, in someembodiments, to identify, relative to each of multiple rows of items ofa product supported by a shelf and/or empty rows, whether a thresholdnumber of items of the product are present within each row. For someproducts, a notification may be issued in response to identifying thatone or more rows do not have the desired number of items. With otherproducts, the central computer system may further identify that athreshold number of the rows of items of the product within the selectarea do not have at least a threshold number of items, and issue anotification requesting action be taken in response to identifying thatat least the threshold number of rows do not have at least the thresholdnumber of items.

FIG. 15 depicts a simplified flow diagram of an exemplary process 1500of obtaining one or more 3D scans and/or evaluating composite 3D scanmappings, in accordance with some embodiments. In step 1502, a compositethree-dimensional (3D) scan mapping is obtained that corresponds to atleast a select area of the shopping facility and based on a series of 3Dscan data obtained by one or more 3D scanners as the one or more 3Dscanners are moved within the shopping facility. In some instances, the3D scan data comprises 3D scans of shelves and the items of productssupported by the shelves. Further, the 3D scans are capture as the 3Dscanners are moved through the shopping facility. In some instances, oneor more 3D scanners are mounted on or otherwise moved by a motorizedtransport unit. The scans can be captured while movement is takingplace. In other instances, the motorized transport unit may beinstructed to implement movements of defined distance and making stopsfollowing the defined distance. One or more 3D scans can then be takenwhile the motorized transport unit is stopped between predefinedmovements. In some applications, the central computer system can track amovement of the motorized transport unit and the corresponding 3Dscanners, and issues commands to the 3D scanner to implement one or more3D scans.

In step 1504, the 3D scan mapping is evaluated to identify multipleproduct depth distances 1202 between a reference offset proximate anedge 1106 of the shelf 902 and each of multiple items of a productpositioned on and spaced across the select area of the shelf. In step1506, one or more of the multiple product depth distances areidentified, from the evaluation of the 3D scan mapping, that are greaterthan a predefined depth distance threshold 1206 from the referenceoffset or edge of the product support structure. Again, in someinstances, the reference offset may be specific to a particular product,a particular shelf, and/or a particular product and its placement on aparticular shelf In some embodiments, a notification is issued (e.g.,displayed, communicated to a user interface unit 114, etc.) to ashopping facility associate, in response to identifying that one or moreof the multiple product depth distances are greater than a predefineddepth distance threshold 1206 from the reference offset, requestingaction be taken (e.g., facing of the product, restocking, etc.).

Additionally or alternatively, some embodiments further identify when athreshold area or facing area threshold 1304 across the shelf of theselect area has the product depth distance 1202 that is greater than thepredefined depth distance threshold 1206. A notification can be issued(e.g., displayed, communicated to a user interface unit 114, etc.) inresponse to identifying that the facing area threshold 1304 across theshelf of the select area has the product depth distance that is greaterthan the predefined depth distance threshold 1206. Again, thenotification can request action be taken, such as facing the product,restocking the shelf, confirming an order for the product has beensubmitted, and/or other such actions.

Some embodiments further issue a notification when there are not enoughitems of a product behind items of the product on a shelf. In someinstances, the central computer system identifies, from the evaluationof the 3D scan mapping and relative to each of multiple rows of items ofthe product supported by a shelf, whether a threshold number of itemsare present within each row, wherein each of the multiple rows of itemscomprises one or more of the items arranged extending away from the edgeof the shelf. Similarly, the evaluation can include identifying that athreshold number of rows within the select area do not have at least thethreshold number of items. A notification may be issued when thethreshold number of items are not present and/or a threshold area is notoccupied. The notification can include a request that action be taken inresponse to identifying that at least one of the threshold area acrossthe shelf of the select area has the product depth distance that isgreater than the depth distance threshold, and the threshold number ofrows do not have at least the threshold number of items.

Further, some embodiments are configured to identify an incorrectlyplaced product. As described herein, the central computer system maystore and/or may have access to 3D scans, pictures, and/or other suchimages of many if not all of the products available for purchase at theshopping facility. Additionally, with the shopping facility mappingand/or product mapping the central computer system knows which productsare supposed to be in which locations, and which areas on which shelves.Accordingly, the 3D scans and/or 3D mapping can be evaluated withknowledge of which product is supposed to be positioned in an area of ashelf. Items 1102 of the product can be identified within the 3D scansand/or mapping and compared with a 3D scan or picture of an item of theproduct expected to be at the given area of the shelf being evaluated.Similarly, one or more pictures, video or other imaging can be capturedby one or more shopping facility video systems and/or video cameras 118while the 3D scans are being performed. The one or more pictures, videoor other imaging can be evaluated relative to an image of an expectedproduct. For example, dimensions, colors, patterns, bar codes, and/orother such identifying features can be used to confirm that an itemlocated in an area on the shelf being evaluated is actually an item ofthe product expected to be located in the area. In some embodiments, thecentral computer system in evaluating the 3D scan mapping is furtherconfigured to identify when one or more of the items detected throughthe 3D scan mapping and within the select area are different than anexpected product intended to be positioned within the select area. Thecentral computer system may cause a notification to be communicated,such as wirelessly transmitted through a transceiver, notifying ashopping facility associate that an item of a different product isincorrectly placed within the select area.

Some implementations further consider, in response to an evaluation ofthe 3D scan mappings, on-hold, on-order and/or in transit conditions indetermining whether to place an order for a product. The centralcomputer system can further evaluate an on-hand stock of a product beingevaluated in one or more 3D mappings in response to identifying one ormore threshold conditions are detected (e.g., that the threshold areaacross the shelf of the select area has the product depth distance thatis greater than the depth distance threshold). The on-hand stock of theproduct may be identified as being less than a threshold quantity. Thecentral computer system may further determine, in response toidentifying that the on-hand stock of the product is less than thethreshold quantity, whether additional items of the product are pendingdelivery from a supplier, whether further orders of the product are onhold for one or more reasons, whether a shipment is in transit, or othersuch factors.

Some embodiments further cause one or more notifications to becommunicated or otherwise issued when there are not enough items behindthe front items on a shelf. Accordingly, the central computer system canevaluate the 3D scan mapping and/or multiple 3D scan mappings inevaluating item depths on a shelf. For example, it can be determinedrelative to each of multiple rows of items of the product supported bythe shelf whether a threshold number of items of the product are presentwithin each row. Further, some implementations further identify whethera threshold number of the rows of items of the product within the selectarea do not have at least the threshold number of items, and issue anotification requesting action be taken in response to identifying thatat least the threshold number of rows do not have at least the thresholdnumber of items.

One or more 3D scanners are typically moved through the shoppingfacility as they capture multiple series of 3D scans. In someimplementations, a motorized transport unit is configured to support andmove one or more 3D scanners and/or to couple with a scanner supportstructure that the motorized transport unit can move through theshopping facility in accordance with movement instructions and/or route.In some embodiments the central computer system communicates the one ormore instructions and/or routes to the motorized transport unit. Forexample, the central computer system can cause a transceiver towirelessly communicate one or more movement commands to the motorizedtransport unit coupled with the one or more 3D scanners. The one or moremovement commands when implemented by the motorized transport unit areconfigured to cause physical movement of the motorized transport unitand the one or more 3D scanners consistent with the one or more movementcommands through at least a portion of the shopping facility andproximate the select area of the product support structure. In someimplementations, the one or more routes are identified relative to amapping of the shopping facility, with the route extending between adetermined location of the motorized transport unit within the shoppingfacility and a destination location within the shopping facility. One ormore movement commands can be identified that are configured to controlmovement of the motorized transport unit to cause the motorizedtransport unit to move to the destination location in accordance withthe route. The central computer system can cause a transceiver towirelessly transmit the one or more movement commands to the motorizedtransport unit to cause the motorized transport unit to control itsmovements in accordance with the one or more movement commands andconsistent with the route.

Further, central computer system 106 and/or the motorized transportunits can be configured, in some embodiments, to identify obstacles inthe way of an intended movement or route that can interfere withmovement or interfere with one or more scans. These obstacles can besubstantially any obstacle, such as but not limited to customers,movable item containers, other motorized transport units, otherscanners, shopping facility employees, boxes, pallets, products,cleaning equipment, and other such obstacles. In some implementations,the central computer system identifies obstacles based on an evaluationof video content received through one or more video cameras positionedat or within the shopping facility; communications from the motorizedtransport unit and/or a movable item container (e.g., distancemeasurement information identifying an object along an intended path ofthe motorized transport unit, video content from the motorized transportunit or movable item container, and the like), notification from anothersource (e.g., from a shopping facility associate, customer, etc.), andthe like. The central computer system 106 can, in some embodiments,determine whether the obstacle is short term obstacle (i.e., expected tobe an obstacle for less than a threshold amount of time) or a long termobstacle (i.e., expected to be an obstacle for more than the thresholdamount of time). For example, if the central computer system identifiesor predicts that the obstacle is likely not to move for less than fiveminutes, the obstacle may be classified as a short term obstacle, andlonger than five minutes as a long term obstacle.

In some embodiments, the central computer system may notify a shoppingfacility associate or colleague the motorized transport unit needsassistance when a long term obstacle is detected. The notificationtypically includes a location of the obstacle, and in some instances mayidentify a type of obstacle, a size, whether a device may be needed tomove the obstacle (e.g., a lift or the like), and/or other suchinformation. The notification can be a display on a computer display,display on a point of sale device or the like, a wireless communicationto a user interface unit 114 (e.g., a text message sent to one or moreassociates and/or colleagues) requesting that the associate or colleagueinvestigate. In some embodiments, the colleague acknowledges the alert.In some applications, the central computer system 106 provides a map tothe colleague of the location of the motorized transport unit and/orobstacle. Further, the associate or colleague may respond back to thecentral computer system upon taking action, and in some instances thecentral computer system may continue to send notifications until aresponse is received. In other instances, the motorized transport unitmay notify the central computer system that the obstacle has beenaddressed and/or the central computer system may detect (e.g., based onvideo analysis) that the obstacle has been addressed. For example, ifthe action is to clear the obstacle, the central computer system canrecognize the blockage is clear and the associate and/or colleague mayrespond back, such as with a text message.

In other instances, the central computer system may determine that themotorized transport unit should take one or more actions in response tothe obstacle. For example, when an action is to go around the obstacle,the central computer system may identify one or more movement commandsand/or plot a new path for the motorized transport unit to follow sothat the one or more 3D scanners 602 can reestablish one or morereference points within the 3D model and/or identify new referencepoints. In some embodiments, when an obstacle is identified as a shortterm obstacles the motorized transport unit may be instructed to stopand wait for the obstacle to move out of the way and will not deviatefrom its intended scanning route 1002.

In some embodiments, the central computer system is configured tocommunicate with the 3D scanners. The communications can includereceiving the series of 3D scans, receiving 3D mapping, whether one ormore reference points have been established and/or detected, where ascan is acceptable, when a reference point is lost (e.g., due to speedof movement, interference, orientation, etc.), a detected boundary(e.g., beginning or end) of a shelf, status information, and other suchinformation; and communicating instructions, activating one or morescans, controlling an orientation of the one or more 3D scanners, andthe like; and other such communications. For example, the centralcomputer system can cause a transceiver to wirelessly communicate one ormore 3D scan commands to induce a change in orientation of the 3Dscanners relative to the shelf, which might include a rotation by acertain amount or number of degrees, a shift up or down, or other suchinstructions. Alternatively, similar commands may be communicated to themotorized transport unit and/or a control system cooperated with thesupport frame 822 that supports the one or more 3D scanners 602. Forexample, an orientation control system may be cooperated with one ormore motors of the support frame 822 that can rotate the frame, raise orlower one or more sections of the frame or the like.

In some embodiments, apparatuses and methods are provided herein usefulto provide assistance to customers and/or workers in a shoppingfacility. In some embodiments, an apparatus configured to determineproduct placement conditions within a shopping facility comprises: atransceiver configured to wirelessly receive communications; a productmonitoring control circuit coupled with the transceiver and associatedwith a shopping facility; a memory coupled with the control circuit andstoring computer instructions that when executed by the control circuitcause the control circuit to: obtain a composite three-dimensional (3D)scan mapping corresponding to at least a select area of the shoppingfacility and based on a series of 3D scan data obtained by a 3D scanneras the 3D scanner is moved within the shopping facility; evaluate the 3Dscan mapping to identify multiple product depth distances between areference offset distance proximate an edge of a product supportstructure and each of multiple items of a first product positioned onand spaced across the select area of the product support structure; andidentify, from the evaluation of the 3D scan mapping, when one or moreof the multiple product depth distances is greater than a predefineddepth distance threshold from the reference offset distance of theproduct support structure.

In some embodiments, a method of determining product placementconditions within a shopping facility, comprises: by a control circuitof a shopping facility product monitoring system: obtaining a compositethree-dimensional (3D) scan mapping corresponding to at least a selectarea of the shopping facility and based on a series of 3D scan dataobtained by a 3D scanner as the 3D scanner is moved within the shoppingfacility; evaluating the 3D scan mapping to identify multiple productdepth distances between a reference offset distance proximate an edge ofa product support structure and each of multiple items of a firstproduct positioned on and spaced across the select area of the productsupport structure; and identifying, from the evaluation of the 3D scanmapping, when one or more of the multiple product depth distances isgreater than a predefined depth distance threshold from the edge of theproduct support structure.

Those skilled in the art will recognize that a wide variety ofmodifications, alterations, and combinations can be made with respect tothe above described embodiments without departing from the scope of theinvention, and that such modifications, alterations, and combinationsare to be viewed as being within the ambit of the inventive concept.

What is claimed is:
 1. A retail system configured to determine productplacement conditions within a shopping facility, comprising: a productmonitoring control circuit associated with a shopping facility; and amemory coupled with the control circuit and storing computerinstructions that when executed by the control circuit cause the controlcircuit to: obtain a scan mapping corresponding to at least a selectarea of the shopping facility and based on a series of scan data from amotorized robotic scanner unit moved along at least the select area ofthe shopping facility; access a baseline scan of at least the selectarea; compare the scan mapping to the baseline scan and identifydifferences between the scan mapping and the baseline scan of productdepth distances defined between a reference proximate an edge of aproduct support structure and each of multiple items of a first productpositioned on the product support structure; and identify when one ormore of the product depth distances is greater than a predefined depthdistance threshold from the reference proximate the edge of the productsupport structure.
 2. The retail system of claim 1, wherein the scanmapping comprises a three-dimensional (3D) scan mapping and the controlcircuit is further configured to: identify, based on the comparing the3D scan mapping to the baseline scan, when an empty area across theproduct support structure where a plurality of the first product havebeen removed has a predefined relationship to an area threshold; andcommunicate, in response to identifying that the empty area has thepredefined relationship to the area threshold, one or more commands toinitiate one or more actions.
 3. The retail system of claim 1, whereinthe control circuit is further configured to: identify, from the scanmapping and relative to each of multiple rows of items of the firstproduct supported by the product support structure, whether a thresholdnumber of items are present within each row, wherein each of themultiple rows of items comprises one or more of the items on the productsupport structure; identify that a threshold number of rows within theselect area do not have at least the threshold number of items; andcommunicate, in response to identifying that the threshold number ofrows do not have at least the threshold number of items, one or morecommands to initiate one or more actions.
 4. The retail system of claim1, wherein the control circuit is further configured to: identify whenone or more of the items detected through the scan mapping and withinthe select area are different than the first product intended to bepositioned within the select area; and cause a notification to becommunicated notifying a shopping facility associate that at least oneitem of at least a second product is incorrectly placed within theselect area.
 5. The retail system of claim 1, wherein the scan mappingcomprises point cloud measurements, and the baseline scan comprisespoint cloud measurements.
 6. The retail system of claim 1, wherein thecontrol circuit is further configured to: cause one or more movementcommands to control the motorized robotic scanner unit to becommunicated to the motorized robotic scanner unit, wherein the one ormore movement commands when implemented by the motorized robotic scannerunit cause physical movement of the motorized robotic scanner unitconsistent with the one or more movement commands through at least aportion of the shopping facility and proximate the select area of theproduct support structure.
 7. The retail system of claim 1, wherein thecontrol circuit is further configured to: cause one or more scancommands to be communicated to induce a change in orientation of themotorized robotic scanner unit relative to the product supportstructure.
 8. The retail system of claim 1, wherein the control circuitis further configured to: communicate commands to the motorized roboticscanner unit causing the motorized robotic scanner unit to perform atleast one additional task and to capture the scan data as the motorizedrobotic scanner unit travels through the shopping facility performingthe at least one additional task, wherein the at least one additionaltask is different than capturing the scan data.
 9. The retail system ofclaim 8, wherein the motorized robotic scanner unit is configured todetect one or more obstacles and preform at least one of a rerouting toavoid the one or more obstacles and wait until the one or more obstaclesare moved from an intended path.
 10. A method of determining productplacement conditions within a shopping facility, comprising: by acontrol circuit of a shopping facility product monitoring system:obtaining a scan mapping corresponding to at least a select area of theshopping facility and based on a series of scan data from a motorizedrobotic scanner unit moved along at least the select area of theshopping facility; accessing a baseline scan of at least the selectarea; comparing the scan mapping to the baseline scan and identifyingdifferences between the scan mapping and the baseline scan of productdepth distances defined between a reference proximate an edge of aproduct support structure and each of multiple items of a first productpositioned on the product support structure; and identifying when one ormore of the product depth distances is greater than a predefined depthdistance threshold from the edge of the product support structure. 11.The method of claim 10, further comprising: the scan mapping comprises athree-dimensional (3D) scan mapping; identifying, based on the comparingof the 3D scan mapping to the baseline scan, when an empty area acrossthe product support structure where a plurality of the first producthave been removed has a predefined relationship to an area threshold;and communicating, in response to identifying that the empty area hasthe predefined relationship to the area threshold, one or more commandsto initiate one or more actions.
 12. The method of claim 10, furthercomprising: identifying, relative to each of multiple rows of items ofthe first product supported by the product support structure, whether athreshold number of items are present within each row, wherein each ofthe multiple rows of items comprises one or more of the items on theproduct support structure; identifying that a threshold number of rowswithin the select area do not have at least the threshold number ofitems; and communicating, in response to identifying that the thresholdnumber of rows do not have at least the threshold number of items, oneor more commands to initiate one or more actions.
 13. The method ofclaim 10, further comprising: identifying when one or more of the itemsdetected through the scan mapping and within the select area aredifferent than the first product intended to be positioned within theselect area; and causing a notification to be communicated notifying ashopping facility associate that at least one item of at least a secondproduct is incorrectly placed within the select area.
 14. The method ofclaim 10, wherein the scan mapping comprises point cloud measurements,and the baseline scan comprises point cloud measurements.
 15. The methodof claim 10, further comprising: causing one or more movement commandsto control the motorized robotic scanner unit to be communicated to themotorized robotic scanner unit, wherein the one or more movementcommands when implemented by the motorized robotic scanner unit causephysical movement of the motorized robotic scanner unit consistent withthe one or more movement commands through at least a portion of theshopping facility and proximate the select area of the product supportstructure.
 16. The method of claim 10, further comprising: causing oneor more scan commands to be communicated to induce a change inorientation of the motorized robotic scanner unit relative to theproduct support structure.
 17. The method of claim 10, furthercomprising: communicating commands to the motorized robotic scanner unitcausing the motorized robotic scanner unit to perform at least oneadditional task and to capture the scan data as the motorized roboticscanner unit travels through the shopping facility performing the atleast one additional task, wherein the at least one additional task isdifferent than capturing the scan data.
 18. The method of claim 17,further comprising: detecting, by the motorized robotic scanner unit,one or more obstacles and preform at least one of a rerouting to avoidthe one or more obstacles and wait until the one or more obstacles aremoved from an intended path.
 19. A shopping facility product monitoringsystem, comprising: a plurality of autonomous, motorized robotic scannerunits; a product monitoring control circuit associated with a shoppingfacility and communicatively coupled over a wireless communicationnetwork with each of the motorized robotic scanner units; a memorycoupled with the product monitoring control circuit and storing computerinstructions that when executed by the product monitoring controlcircuit cause the product monitoring control circuit to: communicate oneor more route commands to a first motorized robotic scanner unit of theplurality of motorized robotic scanner units to cause physical movementof the first motorized robotic scanner unit to move consistent with theone or more route commands through at least a portion of the shoppingfacility and proximate a select area of a product support structure andcapture scan data relative to the select area; obtain a scan mappingcorresponding to at least the select area of the product supportstructure based on a series of the scan data from the first motorizedrobotic scanner unit; access a baseline scan of at least the select areaof the product support structure; compare the scan mapping with thebaseline scan and identify differences between the scan mapping and thebaseline scan of product depth distances to each of one or more items ofa first product positioned on the product support structure and relativeto an edge of the product support structure; identify when one or moreof the differences is greater than a predefined threshold; andcommunicate one or more commands, in response to identifying that one ormore of the differences has the predefined relationship to thepredefined threshold, to initiate one or more actions.
 20. The system ofclaim 19, wherein the product monitoring control circuit in identifyingwhen that one or more of the differences is greater than the predefinedthreshold configured to: identify when an empty area across the productsupport structure where a plurality of the first product have beenremoved, corresponding the first product, has a predefined relationshipto an area threshold.